Modular and dynamically reconfigurable flying systems encompassing flying vehicle modules

ABSTRACT

A flying surface may comprise a plurality of interconnectable flying vehicles configured for mid-flight reconfiguration of the flying surface. Each flying vehicle may be entirely self-sufficient, including an onboard thrust unit, an onboard controller, an onboard power unit, and connectors configured to engage corresponding connectors of other flying vehicles to form a flying surface. The flying vehicles may additionally be configured for self-control, thereby enabling a distributed control model for a flying surface that does not require significant, centralized processing power and corresponding power storage. The flying surfaces may dynamically reconfigure mid-flight by attaching or detaching flying vehicles so as to enable a wide variety of in-flight maneuvers.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is a continuation of U.S. patent applicationSer. No. 16/586,549, filed Sep. 27, 2019, which claims priority from:U.S. Provisional Appl. Ser. No. 62/711,392, filed Jul. 27, 2018; U.S.Provisional Appl. Ser. No. 62/711,402, filed Jul. 27, 2018; U.S.Provisional Appl. Ser. No. 62/717,220, filed Aug. 10, 2018; U.S.Provisional Appl. Ser. No. 62/879,684, filed Jul. 29, 2019; U.S.Provisional Appl. Ser. No. 62/879,703 filed Jul. 29, 2019 and U.S.Provisional Appl. Ser. No. 62/885,395 filed Aug. 12, 2019, all of whichare incorporated herein by reference in their entirety.

BACKGROUND

Flying apparatus, such as drones rely on generating sufficient thrust toproduce lift. In many examples this is achieved by electrically poweredpropellers, very broadly used today in drones, such as quadcopters,where four motors control four propellers to achieve lift, lateralmovement, and attitude control. While electrically powered motorsfacilitate operation of multiple propellers to provide maneuvering andcontrol flexibility, all electrically powered aircraft are challenged bythe amount of energy required to be carried on board, which through thebattery mass increases the required lift, which in turn translates tomore energy demand.

Moreover, traditional flying apparatuses rely on centralized, onboardcontrol and power supply units for controlling and/or powering a rigidplurality of thrust units, such as a plurality of motors withcorresponding propellers (a quadcopter with four propellers, a hexcopterwith six propellers, and/or the like). This centralized control andpower configuration provides practical limits on the overall physicalconfiguration of the flying apparatus so as to maintain practicaloperability of the apparatus. However, these physical limitations alsolimit potential uses of the flying apparatus, and also limit theflexibility of the flying apparatus to be configured for specificdesired operations.

BRIEF SUMMARY

Various embodiments are directed to individual flying vehicles, andinterconnected systems of flying vehicles forming flying surfaces 100.The individual flying vehicle may be entirely self-sufficient, havingcontrollers, power units (e.g., batteries, wireless power receivers,and/or the like), and thrust units onboard each flying vehicle. Theflying vehicles comprise connectors thereon for interconnecting aplurality of flying vehicles to form a flying surface 100, and thecontrollers of the flying vehicles are configured for decentralizedcontrol of an interconnected flying surface 100 to perform variousoperations. Moreover, methods of operating the individual flyingvehicles and/or the flying surfaces 100 utilize the decentralizedcontrol configuration enabled by the plurality of controllers associatedwith respective flying vehicles to dynamically reconfigure the flyingsurfaces 100 in accordance with a desired functionality of the flyingsurfaces 100.

Various embodiments are directed to a flying vehicle comprising: a framehaving one or more connectors configured to engage external connectorsof at least one adjacent flying vehicle to form a joint between theframe and the at least one adjacent flying vehicle; a thrust unitsecured within the frame and configured to provide lift for the flyingvehicle; and a controller secured within the frame, wherein thecontroller is configured to: determine a connectivity state of theflying vehicle, wherein the connectivity state is indicative of whetherthe frame is secured relative to at least one adjacent flying vehicle;transmit control signals to the thrust module, wherein the controlsignals are generated based at least in part on the connectivity stateof the flying vehicle.

In certain embodiments, the flying vehicle further comprises acommunication module configured to transmit status data to one or moreadditional flying vehicles. Moreover, the communication module may beconfigured for wireless data transmission.

In various embodiments, the one or more connectors are configured toform a rigid joint when engaged with external connectors of at least oneadjacent flying vehicle. Moreover, the one or more connectors areconfigured to form a flexible joint when engaged with externalconnectors of at least one adjacent flying vehicle. In variousembodiments, the one or more connectors are configured to form adynamically adjustable joint when engaged with external connectors of atleast one adjacent flying vehicle, wherein the dynamically adjustablejoint has a dynamically controllable rigidity. In certain embodiments,the one or more connectors are configured to form an adjustable jointwhen engaged with external connectors of at least one adjacent flyingvehicle, wherein the adjustable joint is configurable between a rigidconfiguration and a flexible configuration. In certain embodiments, thecontroller is further configured to receive a master control signal fromone of an additional flying vehicle prior to transmitting controlsignals to the thrust module. In various embodiments, the controller isconfigured to generate a control signal based at least in part on adistributed control configuration for a plurality of flying vehicles.Moreover, determining a connectivity state comprises detecting wirelesssignals received by at least one adjacent flying vehicle. In certainembodiments, the flying vehicle may further comprise one or moreproximity sensors positioned on the frame, wherein the one or moreproximity sensors are configured to detect an adjacent flying vehicle.

In certain embodiments, the thrust unit is reversible to selectablyprovide thrust in one of two opposing directions. In variousembodiments, the flying vehicle further comprises one or more controlsurfaces configured to provide attitude adjustment to the flyingvehicle. In certain embodiments, the controller is further configuredto: generate master control signals for one or more additional flyingvehicles; and transmit the master control signals to the one or moreadditional flying vehicles. Moreover, the flying vehicle may furthercomprise an onboard power unit. The flying vehicle may further comprisea power receiver configured to receive wireless power transmission froma power generation unit. In certain embodiments, the power receiver isembodied as one or more antennae positioned within the thrust unit.

Certain embodiments are directed to a flying vehicle comprising: a framedefining one or more sidewalls, wherein the frame has an open upper endand an open lower end; a thrust unit secured within the frame andconfigured to provide lift for the flying vehicle; a power unit inconnection with the thrust unit; a controller configured to transmitcontrol signals to the thrust unit; and a plurality of connectorspositioned around an exterior surface of the frame, wherein theconnectors are configured to engage external connectors of at least oneadjacent flying vehicle.

In various embodiments, each of the plurality of connectors may behermaphrodite connectors. Moreover, the one or more connectors areconfigured to form a rigid joint when engaged with external connectorsof at least one adjacent flying vehicle. In certain embodiments, the oneor more connectors are configured to form a flexible joint when engagedwith external connectors of at least one adjacent flying vehicle. Incertain embodiments, the one or more connectors are configured to form adynamically adjustable joint when engaged with external connectors of atleast one adjacent flying vehicle, wherein the dynamically adjustablejoint has a dynamically controllable rigidity. In various embodiments,the one or more connectors are configured to form an adjustable jointwhen engaged with external connectors of at least one adjacent flyingvehicle, wherein the adjustable joint is configurable between a rigidconfiguration and a flexible configuration. In certain embodiments, thethrust unit comprises an electric motor and propeller. Moreover, theflying vehicle may further comprise one or more proximity sensorspositioned on the frame, wherein the one or more proximity sensors areconfigured to detect an adjacent flying vehicle. The thrust unit may bereversible to selectably provide thrust in one of two opposingdirections. Moreover, the flying vehicle may further comprise one ormore control surfaces configured to provide attitude adjustment to theflying vehicle.

Certain embodiments are directed to a flying surface comprising: aplurality of interconnected flying vehicles each comprising a thrustmodule and a controller, wherein adjacent flying vehicles of theplurality of flying vehicles are connected via a joint formed betweenconnectors of the adjacent flying vehicles; and wherein the controllerof each of the plurality of interconnected flying vehicles areconfigured for distributed flight control of the flight surface.

In various embodiments, adjacent flying vehicles of the plurality offlying vehicles are connected via a flexible joint. In certainembodiments, adjacent flying vehicles of the plurality of flyingvehicles are connected via a rigid joint. Moreover, adjacent flyingvehicles of the plurality of flying vehicles are connected viaconnectors configured for transmission of at least one of: control datasignals or power signals. In certain embodiments, each flying vehiclecomprises a power unit. Moreover, at least one flying vehicle of theplurality of interconnected flying vehicles may be configured forsharing power from a power unit with one or more other flying vehiclesof the plurality of interconnected flying vehicles. In certainembodiments, each controller of the plurality of interconnected flyingvehicles is configured to independently generate control signals for theonboard thrust unit. Moreover, each of the plurality of interconnectedflying vehicles may additionally comprise one or more position sensors,and wherein each controller of the plurality of interconnected flyingvehicles is configured to generate control signals for the onboardthrust unit based at least in part on outputs of the one or moreposition sensors. Each controller of the interconnected flying vehiclesmay be configured to independently generate control signals for theonboard thrust unit based at least in part on command signals receivedfrom an external controller.

In various embodiments, generating control signals for the onboardthrust unit comprises: determining, based at least in part on the outputof the one or more position sensors, a connectivity state of thecorresponding flying vehicle relative to one or more adjacent flyingvehicles; and generating control signals for movement of a correspondingflying vehicle based at least in part on a determined connectivity stateof the corresponding flying vehicle. In various embodiments, eachcontroller of the plurality of interconnected flying vehicles isconfigured to receive a control signal from an external control device.In various embodiments, each flying vehicle comprises a wireless powerreceiver configured to receive wireless power transmissions from anexternal power source. Moreover, one or more of the plurality ofinterconnected flying vehicles additionally comprise a photovoltaicelement. In certain embodiments, at least one of the interconnectedflying vehicles comprises a camera. In various embodiments, at least oneof the interconnected flying vehicles comprises at least one of: a GPSsensor; a radar; a LIDAR sensor; a thermal sensor; a pressure sensor; agyroscope; a contact sensor; or a proximity sensor.

Moreover, at least one of the interconnected flying vehicles maycomprise a beacon. In certain embodiments, at least one of theinterconnected flying vehicles comprises a wireless data networkrepeater. In various embodiments, the controllers of the plurality ofinterconnected flying vehicles are collectively configured to maneuverportions of the flying surface for object manipulation by independentlycontrolling thrust units of the plurality of interconnected flyingvehicles. In various embodiments, the controllers of the plurality ofinterconnected flying vehicles are collectively configured to maintainthe flying surface in an at least substantially stationary position tomodify an airflow at the stationary position. Moreover, the plurality ofthe interconnected flying vehicles may be arranged in more than onelayer. In certain embodiments, one or more of the plurality of theinterconnected flying vehicles further comprises one or more one or morecontrol surfaces configured to provide attitude adjustment to the flyingvehicle. Moreover, the controllers of the plurality of interconnectedflying vehicles are collectively configured to reconfigure an overallshape of the flying surface between a first configuration and a secondconfiguration during flight.

Various embodiments are directed to a method for dynamically configuringa flying surface comprising a plurality of interconnectable flyingvehicles. In certain embodiments, the method comprises: detecting, via acontroller of a first interconnectable flying vehicle, the presence of asecond interconnectable flying vehicle; controlling, via the controllerof the first interconnectable flying vehicle, an onboard thrust unit ofthe first interconnectable flying vehicle to cause the firstinterconnectable flying vehicle to form a joint by engaging one or moreconnectors of the first interconnectable flying vehicle and the secondinterconnectable flying vehicle and to form a flying surface comprisingthe first interconnectable flying vehicle and the secondinterconnectable flying vehicle.

In various embodiments, engaging one or more connectors of the firstinterconnectable flying vehicle and the second interconnectable flyingvehicle comprises forming a rigid joint between the firstinterconnectable flying vehicle and the second interconnectable flyingvehicle. Moreover, engaging one or more connectors of the firstinterconnectable flying vehicle and the second interconnectable flyingvehicle may comprise forming a flexible joint between the firstinterconnectable flying vehicle and the second interconnectable flyingvehicle.

In certain embodiments, the method may further comprise reconfiguringthe rigid joint into a flexible joint. Moreover, after engaging the oneor more connectors between the first interconnectable flying vehicle andthe second interconnectable flying vehicle, reconfiguring a controlmodel executed by the controller of the first interconnectable flyingvehicle to accommodate flight behaviors of the flying surface. Incertain embodiments, reconfiguring the control model comprises:detecting a joint type between the first interconnectable flying vehicleand the second interconnectable flying vehicle; detecting a quantity ofinterconnectable flying vehicles connected within the flying surface;and implementing a control model reflecting the detected joint type andthe detected quantity of interconnectable flying vehicles connectedwithin the flying surface. Moreover, reconfiguring the control model maycomprise receiving one or more control signals from a separatecontroller and implementing a control model at the controller of thefirst interconnectable flying vehicle based at least in part on thereceived one or more control signals. In various embodiments,reconfiguring the control model comprises: detecting that the secondinterconnectable flying vehicle comprises a camera; and implementing acontrol model configured for stable repositioning of the camera. Incertain embodiments, the method further comprises detecting a failingthird interconnectable flying vehicle within the flying surface; andreconfiguring the control model of the first interconnectable flyingvehicle to support the failing third interconnectable flying vehicle. Incertain embodiments, detecting the presence of a second interconnectableflying vehicle comprises detecting, via one or more of: a proximitysensor, a pressure sensor, or a contact sensor.

Various embodiments are directed to a method for dynamically configuringa flying surface comprising a plurality of interconnectable flyingvehicles, the method comprising: detecting, via a controller of a firstinterconnectable flying vehicle, the presence of a secondinterconnectable flying vehicle connected with the firstinterconnectable flying vehicle via a joint; and configuring a controlmodel implemented by the controller of the first interconnectable flyingvehicle based at least in part on a detection of the presence of thesecond interconnectable flying vehicle.

In certain embodiments, the method further comprises detecting a jointtype between the first interconnectable flying vehicle and the secondinterconnectable flying vehicle. Moreover, detecting a joint typecomprises determining whether a joint is a rigid joint or a flexiblejoint between the first interconnectable flying vehicle and the secondinterconnectable flying vehicle.

In certain embodiments, the method further comprises receiving dataindicating a quantity of other interconnectable flying vehiclesconnected with the second interconnectable flying vehicle. In variousembodiments, the method further comprises receiving data indicating thatthe second interconnectable flying vehicle comprises a camera. Invarious embodiments, reconfiguring the control model comprisesimplementing a control model configured for stable repositioning of thecamera. Moreover, reconfiguring the control model may comprise receivingone or more control signals from a separate controller.

In certain embodiments, the method further comprises detecting anoperating status of the second interconnectable flying vehicle andconfiguring the control model based at least in part on the operatingstatus of the second interconnectable flying vehicle. In certainembodiments, detecting the presence of a second interconnectable flyingvehicle connected with the first interconnectable flying vehicle via thejoint comprises receiving a data signal from the second interconnectableflying vehicle via a data connection within the joint. Moreover,detecting the presence of a second interconnectable flying vehicleconnected with the first interconnectable flying vehicle via the jointmay comprise receiving a wireless data signal from the secondinterconnectable flying vehicle.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

Reference will now be made to the accompanying drawings, which are notnecessarily drawn to scale, and wherein:

FIGS. 1A-1B are schematic illustrations of flying vehicles in accordancewith certain embodiments;

FIG. 2 is a schematic illustration of a flying surface 100 arranged in arectangular configuration in accordance with certain embodiments;

FIGS. 3A-3B are schematic representations of various arrangements offlying vehicles connected to form flying surfaces 100 according tocertain embodiments;

FIGS. 4A-4B are alternative schematic representations of variousarrangements of flying vehicles having flexible joints therebetween toform flexible flying surfaces 100 according to certain embodiments;

FIGS. 5-6 illustrate thrust vectors possible with rigid and flexibleflying surfaces 100, respectively, according to various embodiments;

FIGS. 7-8 illustrate example configurations of a flexible flying surface100 according to various embodiments;

FIG. 9 schematically illustrates transmission of wireless power andwireless control signals to a flying surface 100 according to oneembodiment;

FIGS. 10-16 illustrate air flow diagrams demonstrating air flow throughflying surfaces 100 in various orientations according to certainembodiments;

FIG. 17 schematically illustrates mid-air reconfiguration of flyingsurfaces 100 in accordance with certain embodiments;

FIGS. 18A-18H illustrate various flying surface 100 configurationsaccording to certain embodiments; and

FIGS. 19-20 illustrate air flow diagrams demonstrating air flow throughflying surfaces 100 approaching one another to join mid-flight,according to one embodiment.

DETAILED DESCRIPTION

The present disclosure more fully describes various embodiments withreference to the accompanying drawings. It should be understood thatsome, but not all embodiments are shown and described herein. Indeed,the embodiments may take many different forms, and accordingly thisdisclosure should not be construed as limited to the embodiments setforth herein. Rather, these embodiments are provided so that thisdisclosure will satisfy applicable legal requirements. Like numbersrefer to like elements throughout.

Overview

Flying vehicles in accordance with various embodiments may be configuredto operate in concert with one another as interconnectable flyingvehicles comprising connectors enabling interconnection between adjacentflying vehicles. Each flying vehicle may be entirely self-sufficient,with one or more onboard thrust units, one or more onboard controllers,one or more onboard power units (e.g., which may be entirelyself-contained, or may be configured to receive power from an externalpower source, such as via wireless power transmission from a powergeneration unit), and/or other features (e.g., sensors,transmitters/receivers, and/or the like). Moreover, the flying vehiclesmay be configured to operate within a swarm configuration (e.g., each ofa plurality of flying vehicles, or a subset, operating as separatevehicles within a grouping of flying vehicles) and/or as a module of aflying surface (e.g., each of a plurality of flying vehicles operatingas an interconnected portion of a flying surface).

In various embodiments, a flying surface may be embodied as a rigidflying surface (also referred to herein as a flying plank) characterizedby rigid joints between interconnected flying vehicles. In otherembodiments, the flying surface may be embodied as a flexible flyingsurface (also referred to herein as a flying shroud or a flying carpet)characterized by flexible joints between interconnected flying vehicles.In certain embodiments, the joints between flying vehicles (a jointcomprising connectors of each of two interconnected flying vehicles) maybe controllable between a rigid and flexible configuration (e.g., adigital configuration, selectable between rigid or flexibleconfigurations or a variable configuration, selectable between varyingdegrees of rigidity).

While forming a portion of a flying surface, the flying vehicles'onboard controllers may be configured to control the movement/operationof the flying surface in a distributed control configuration. Eachcontroller may operate independently to determine appropriate controlsignals for control of a respective flying vehicle, for example, basedon a determined desired movement pattern/operation of the flying surfaceas a whole and/or based on a connectivity state of the flying vehicle(e.g., indicating whether the flying vehicle is attached to another,adjacent flying vehicle and/or indicating the position of the flyingvehicle within a flying surface). The controllers can also useadditional information from on board sensors (e.g.,microelectromechanical systems (MEMS) accelerometers, gyroscopes,magnetometers, barometers, miniaturized sonar, radar, LIDAR, GPS,visible and infrared imagers and cameras, and/or the like) toappropriately control a flying vehicle and/or flying surface. In otherembodiments, one or more controllers of individual flying vehicles maybe configured to operate as slave controllers, executing controlcommands received from a separate master controller (which may beembodied as a controller of another flying vehicle, or a separatecontroller device).

In practice, a plurality of flying vehicles may takeoff as individualvehicles or as an interconnected flying surface, or any combinationthereof. The flying vehicles may reconfigure during flight (e.g., byattaching relative to one another to form a flying surface and/or bydetaching from one another into a swarm or otherwise into a plurality ofseparate flying vehicles).

Flying Vehicle

FIGS. 1A-1B illustrate example embodiments of a flying vehicle 10according to various embodiments. As shown in FIGS. 1A-1B, a flyingvehicle 10 may comprise a frame 11 supporting a plurality ofsubcomponents therein. As shown in FIGS. 1A-1B, the frame 11 maycomprise one or more outer walls (collectively defining a housing)defining an outer perimeter of the flying vehicle 10. The one or moreouter walls may define an exterior surface (defining an exterior surfaceof the flying vehicle 10) and an interior surface (surrounding aninterior of the flying vehicle 10). As shown in FIGS. 1A-1B, the outerwalls may be configured in a hexagon configuration, although any of avariety of shapes may be utilized. For example, as shown in FIG. 2,discussed in greater detail herein, the outer walls may be configured ina rectangular (e.g., square) configuration. Other example outer wallconfigurations encompass round (also referred to herein as circular)configuration, oval-shaped configurations, elliptical configurations,triangular configurations, pentagon-shaped configurations, and/or thelike.

As shown in FIGS. 1A-1B, the frame 11 may define an open upper endand/or an open lower end, enabling air flow through the frame 11. Incertain embodiments, a protective mesh, grid, surface, or other sheet(e.g., a flexible sheet or rigid sheet) that does not substantiallyimpede air flow through the frame 11 may cover the open upper end and/orthe open lower end, such as to provide protection against user contactwith the thrust unit within the frame 11. The grid can also be used toimpart certain aerodynamic properties to the airflow (e.g., laminarflow) or modify the airflow. As discussed herein, a flying vehicle 10may comprise one or more control surfaces to modify air flow through aflying vehicle 10, and a grid, surface, protective mesh, and/or the likemay be embodied as control surfaces providing attitude control of theflying vehicle 10.

The one or more outer walls may be solid panels, mesh panels,interconnected tubes, interconnected rods, a hollow frame, and/or thelike. The one or more outer walls may be configured to operate as airfoils to direct air through the flying vehicle 10. In certainembodiments, the one or more outer walls may be configured to generate aventuri effect incorporating air movement by the thrust unit, to pullair into and through the frame 11 of the flying vehicle 10 to generateefficient air movement through the flying vehicle 10. The outer wallscan also be used to induce control action by acting as primary orsecondary control surfaces.

Moreover, the frame 11 may comprise one or more structural supports,such as cross-braces 12 extending across the interior of the flyingvehicle 10. As shown in FIGS. 1A-1B, the structural supports may beconfigured to support one or more subcomponents, such as thrust units,controllers, and/or the like as discussed herein. The structuralsupports may each extend entirely across the interior of the flyingvehicle 10, or the structural supports may extend between an interiorsurface of an outer wall to a portion of a subcomponent (e.g., to aportion of a thrust unit).

The frame 11 may comprise rigid and/or flexible materials in certainembodiments. For example, the entirely of a frame 11 may comprise rigidmaterials, thereby providing a fully rigid flying vehicle 10. In otherembodiments, at least a portion of a frame 11 may comprise flexiblematerials, thereby providing intra-vehicle flexibility for a flyingvehicle 10 (and a flying surface encompassing such a flying vehicle 10).As examples, the frame 11 of a flying vehicle 10 may comprise any of aplurality of materials, such as carbon fiber, magnesium, titanium,aluminum, polyimide, enforced rubber, fiber glass, plastics, polymermaterials, and/or the like. As just one example, the one or more outerwalls may comprise a first material, and one or more structural supportsmay comprise a second material. As another example, all components ofthe frame 11 may comprise a single material.

Moreover, as shown in FIGS. 1A-1B, the flying vehicle 10 comprises oneor more connectors 13 positioned on an exterior surface of the outerwalls and configuring the flying vehicle 10 as an interconnectableflying vehicle. As just one example, the connectors 13 may be positionedat regular intervals around an exterior perimeter of the flying vehicle10. As a specific example, each individual outer wall may comprise atleast one connector 13. As another example, an outer wall may comprise aplurality of connectors 13 spaced along a length of the outer wall(e.g., a circular flying vehicle 10 comprising a single, continuouslycurved outer wall may comprise a plurality of connectors 13 spaced atregular intervals around the perimeter of the flying vehicle 10, or aring connect capable of connecting at any point along its outerperimeter).

In certain embodiments, the connectors 13 may each be identified by aconnector identifier indicative of the relative location of theconnector on the flying vehicle 10. The connector identifiers may bestored within the controller 18 of the flying vehicle 10 (e.g., a memoryof the controller 18), such that the controller 18 is enabled todetermine where interconnected flying vehicles 10 are connected relativeto the particular flying vehicle 10. For example, the connectoridentifiers may comprise “left,” “right,” “front,” and “back” (the namesmay be arbitrarily assigned, as the flying vehicle 10 may be capable ofidentical performance of operation in any direction), such that acontroller 18 may determine whether other flying vehicles 10 areconnected, for example, on a single side of the flying vehicle 10, onadjacent (e.g., perpendicular) sides of the flying vehicle 10, onopposite sides of the flying vehicle 10, on all sides of the flyingvehicle 10, and/or the like.

In certain embodiments, the connectors 13 may comprise hermaphroditeconnectors, such that identical connectors 13 are configured forinterconnection to form a joint therebetween. Thus, each connector 13 oneach flying vehicle 10 may be capable of forming a joint with everyother connector 13 of other flying vehicles 10. However, it should beunderstood that the connectors 13 may be embodied as male-styleconnectors and female-style connectors, such that a male-style connectoris configured for interconnection with a female-style connector to forma joint.

In certain embodiments, the connectors 13 may be configured forinterconnection therebetween without external intervention. Suchconnectors 13 may be engaged to interconnect between connectors 13 byminimal pressure that may be generated by controlling the movement oftwo flying vehicles 10 toward one another. The connectors may bepressure-fit style connectors, snap-fit style connectors,interference-fit style connectors, static magnetic connectors orelectrically controlled magnetic (e.g., electromagnetic connectors),and/or the like. In certain embodiments, joints formed between connectorpairs (comprising a first connector of a first flying vehicle and asecond connector of a second flying vehicle) may be separated withoutexternal intervention. As an example, a specific relative movementpattern of connected flying vehicles 10 may be utilized to disconnect ajoint (e.g., a first flying vehicle 10 moving in a downward directionand a second flying vehicle 10 moving in an upward and twistingdirection). As another example, an actuator on one flying vehicle 10disengaging a corresponding engagement component on a second flyingvehicle 10. In other embodiments however, joints formed betweenconnector pairs may be separated only with external aid (e.g., auser/tool interacting with portions of the joint to separate theconnectors). In yet other embodiments the joints may be formed orfacilitated using electromagnets that may be activated to form aconnection between adjacent flying vehicles 10 and turned off todisengage previously connected adjacent flying vehicles 10. Suchmagnetic connectors may be aided by miniaturized magnetic sensors on theouter wall that are configured to detect the magnetic field of theadjacent flying vehicle(s) and provide feedback in the alignment andattachment process.

In certain embodiments, the connectors 13 may be passive connectors thatdo not utilize/require power to form joints. For example, snap-fitconnectors, hook-and-loop connector/fasteners, static magneticconnectors, and/or the like may form joints between connectors 13 simplybased on pressure applied between connectors. In other embodiments, theconnectors 13 may comprise active connectors that utilize power to formjoints. For example, actuated pin joints may utilize an actuator (e.g.,a linear actuator, a motor, a solenoid, and/or the like) to interconnectconnectors 13 to form a joint. As another example, electromagneticconnectors may maintain joints in a connected configuration untildepowering of the electromagnetic connector or be used as means ofachieving adjustable stiffness by controlling the magnetic fieldstrength. In yet other embodiments, the connectors 13 may comprisesemi-active connectors that utilize power to separate joints but do notutilize power to form joints. For example, interlocking pin joints maybe formed between connectors 13 simply based on minimal pressure formedbetween connectors 13, however an integrated actuator may be utilized toseparate the connectors 13 of the joint. It should be understood thatother semi-active connectors utilize power to form joints but do notutilize power to separate joints.

In certain embodiments, the connectors 13 may comprise a rigid material,such as a metal material, a rigid polymer, and/or the like, and may beconfigured to generate rigid joints between connected flying vehicles10. In other embodiments, the rigid material connectors may beconfigured to generate flexible, hinged or pinned joints betweenconnected flying vehicles 10. In yet other embodiments, the connectors13 may comprise flexible or resilient materials, such as compositematerials, memory metals, rubber materials, flexible polymer materials,and/or the like, such that the connectors 13 are configured to generateflexible joints between connected flying vehicles 10. In yet otherexamples, the connectors 13 may be embodied as dynamically adjustablejoints with a dynamically controllable rigidity. For example,dynamically adjustable joints may comprise dynamically adjustablematerials and/or joint configurations having adjustable rigidity (e.g.,by applying an electrical signal to the material, by moving a rigidcomponent within the connector 13, by tightening/loosening a pivot jointto increase/decrease frictional forces within a joint, and/or the like).Moreover, as discussed herein, the connectors 13 may comprise conductingcomponents configured for power transmission and/or data transmissionbetween connected flying vehicles 10 (e.g., between controllers ofconnected flying vehicles 10).

In various embodiments, the connectors 13 may comprise proximitysensors, pressure sensors, contact sensors, magnetic field sensors,and/or the like to facilitate reconfiguration between adjacent,connected flying vehicles 10. In other embodiments, such sensors may bepositioned at one or more locations on an outer surface of a flyingvehicle 13 (e.g., adjacent connectors 13). For example, proximitysensors may be configured to detect the presence of a nearby flyingvehicle 10 for which connection is desired, and/or to measure thedistance to a surface of the detected flying vehicle 10, and/or relativeorientation or conformation. Thus, a controller of a flying vehicle 10as discussed herein is configured to utilize outputs of a proximitysensor (or other sensor type) to determine appropriate control maneuversfor the flying vehicle 10 to enable connection with another flyingvehicle 10. Pressure sensors and/or contact sensors (e.g., positionedwithin and/or adjacent connectors 13) may be used to confirm connectionbetween flying vehicles 10.

As shown in FIGS. 1A-1B, the flying vehicle 10 additionally comprises athrust unit, embodied as a motor 14 and propeller 15 in the illustratedembodiment, although other thrust units may be utilized in certainembodiments (e.g., a fossil fuel-based engine and propeller, a jetpropulsion unit (e.g., a jet engine), and/or the like). The thrust unitis configured to provide lift for the flying vehicle 10. As illustratedin FIG. 1A-1B, the thrust unit is secured within the frame 11 of theflying vehicle 10 (e.g., secured relative to structural supportsextending across at least a portion of the interior of the flyingvehicle 10). As just one example, the structural supports may extendbetween interior surfaces of side walls of the frame 11 to a housing ofa motor of the thrust unit (e.g., a motor associated with a propeller ofthe thrust unit). In certain embodiments, the thrust unit may be rigidlysecured within the flying vehicle 10, such that the thrust unit cannotpivot within the flying vehicle 10. However, in other embodiments, thethrust unit may be pivotably mounted within the flying vehicle 10, suchthat the thrust unit may provide attitude control for the flying vehicle10, as well as other multi-dimensional movement control. In embodimentsin which the thrust unit is pivotably mounted within the flying vehicle10, the pivoting position of the thrust unit may be controlled via anonboard controller (e.g., via one or more motors (e.g., servo motors)controlled by the onboard controller).

In other embodiments, it should be understood that a flying vehicle 10may comprise one or more control components to provide separate attitudecontrol for the flying vehicle 10. For example, the flying vehicle 10may comprise one or more control surfaces, such as rudders, trim flaps,and/or other control surfaces that may be operably secured relative toan open upper end or an open lower end of the flying vehicle 10 so as tomodify airflow generated by the thrust unit, thereby enabling control ofthe flying vehicle 10 by adjustment of the control surfaces. The controlsurfaces may be operable by motors, solenoids, or other mechanicalmovement mechanisms in communication with the onboard controller 18,thereby enabling independent movement of the control surfaces so as toprovide attitude control for a flying vehicle 10. As discussed ingreater detail herein, the control surfaces of one or more flyingvehicles 10 may be utilized in combination with other, separate flyingvehicles 10 (such as a plurality of flying vehicles 10 arranged in asingle flying surface 100) so as to provide additional attitude controlfor the plurality of flying vehicles, such as within a single flyingsurface 100. In such embodiments, a plurality of flying vehicles 10 maybe arranged in multiple layers (e.g., a flying surface 100 may compriseone or more flying surfaces 100 arranged in multiple layers (e.g.,utilizing flexible joints) such that the flying vehicles 10 of a firstlayer may operate as control surfaces for flying vehicles 10 within asecond layer. In such embodiments, one or more flying vehicles 10 withinthe first layer are deactivated, such that only the included controlsurfaces are used, specifically to provide attitude control for thrustprovided by flying vehicles 10 within the second layer.

Moreover, the thrust unit of a flying vehicle 10 may be embodied as asingle thrust-providing mechanism, such as a single propeller operatedvia a single motor. However, it should be understood that the thrustunit of certain embodiments comprises a plurality of thrust-providingmechanisms, such as a plurality (e.g., two, three, four, five, six,and/or the like) of motor and propeller combinations, mounted within theframe 11 of the flying device 10. Moreover, in certain embodiments thethrust unit may be reversible (e.g., to provide thrust in one ofopposing directions). In the illustrated embodiment, the motor may beconfigured to rotate the propeller in one of two opposite directions(e.g., clockwise or counter-clockwise), so as to provide lift in eitherdirection. Such thrust unit capability may enable additional movementsof a flying vehicle 10 and/or flying surface 100.

Moreover, the flying device 10 of the illustrated embodiments of FIGS.1A-1B further comprises an onboard power unit 16, such as a battery(e.g., a rechargeable battery, such as a lithium-ion battery; aplurality of non-rechargeable primary batteries; and/or the like)configured to provide electric power to the controller 18, the thrustunit (e.g., a motor of the thrust unit), one or more communicationmodules, and/or the like. The power unit 16 may be secured relative tothe frame 11 of the flying vehicle 10. Although not illustrated, incertain embodiments the power unit 16 may be in electrical communicationwith one or more terminals of the one or more connectors 13, such thatthe power unit 16 may provide electrical power or control and sensinginformation to one or more connected flying devices 10, and/or such thatthe power unit 16 may receive electrical power from one or moreconnected flying devices 10. In other embodiments, the power unit 16 mayhave an integrated short-range (or long-range) wireless powertransmitter/receiver, such that the power unit 16 may wirelesslytransmit and/or receive power to/from one or more connected flyingdevices 10. Moreover, as will be discussed in greater detail herein, thepower unit 16 may be in communication with one or more wireless powerantennae 17 and rectification units configured for receiving and/ortransmitting power to/from a power generation unit 90 and for convertingthe received energy to DC energy, for example, to drive a motor 14.Thus, in certain embodiments, each flying vehicle 10 is configured toreceive wireless power transmissions, such as RF power transmissions (aswell as control data transmissions), microwave power transmissions,and/or the like. As shown in FIGS. 1A-1B, the wireless power antennae 17may be secured relative to or otherwise integrated within the frame 11,the wireless power antennae 17 may be secured relative to and/or may beincorporated within a thrust unit (e.g., as a portion of a propeller 15,such as a dipole antennae with corresponding rectifier). As discussedherein, the wireless power antennae 17 and rectifier units may be incommunication with a power storage unit (e.g., a battery), however itshould be understood that in certain embodiments the wireless powerantennae 17 and rectifier circuitry may be in direct electricalcommunication with the thrust unit (e.g., the motor 14 of the thrustunit) to directly provide power to the thrust unit. Moreover, in certainembodiments, the power unit 16 may be in communication with a solarpanel or other photovoltaic cell configured to receive and/or convertsolar energy into electrical energy for storage within the power unit16.

Moreover, although discussed herein with reference to an electricalpower unit 16, it should be understood that other power units 16, suchas a fuel storage unit may be provided in certain embodiments.

In various embodiments, the flying vehicle 10 additionally comprises oneor more sensors, such as position sensors (e.g., accelerometer,gyroscopes, magnetometer, altimeters, global positioning systems (GPS),proximity sensors, contact sensors, pressure sensors, and/or the like)for detecting a current position of the flying vehicle 10, sensors andsupport circuitry for determining velocity of the flying vehicle 10,sensors for detecting acceleration of the flying vehicle 10,environmental sensors (e.g., thermal sensors, LIDAR (Light Detection andRanging) sensors, proximity sensors, contact sensors, pressure sensors,and/or the like), miniaturized sonar and radar, visible and infraredimager and cameras, and/or the like. These sensors may be embodiedwithin a controller housing (described herein), secured relative to aframe 11 of the flying vehicle, and/or the like. Additional sensors mayadditionally be provided in certain embodiments, such as cameras,microphones, radars, and/or the like, to collect additional informationand/or further facilitate guidance of the flying vehicle 10.

As noted herein, the flying vehicle may additionally comprise acontroller 18 configured for generating guide signals for the flyingvehicle 10 to control operation of the onboard thrust unit and/or one ormore additional flying vehicles 10 that may be present. Moreover, thecontroller 18 may be configured to process signals generated by the oneor more onboard sensors discussed above (and/or to utilize signalsgenerated by the one or more onboard sensors when generating guidesignals for the thrust unit), to process control commands received fromexternal devices, such as other flying vehicles 10, control devices,and/or the like.

The controller 18 may comprise an onboard computing entity, comprisingone or more processors and one or more memory storage devices. Incertain embodiments, the one or more memory storage devices may storedata indicative of one or more control models, wherein each controlmodel may correspond to a particular level of connectivity of the flyingvehicle 10 relative to other flying vehicles. For example, a firstcontrol model may be utilized for controlling operation of a flyingvehicle 10 while the flying vehicle is operating independently,unconnected to any other flying vehicles. A second control model may beutilized for controlling operation of the flying vehicle 10 while theflying vehicle is attached to one other flying vehicle (therebyimplementing a distributed control model with the other flying vehiclefor the flying surface 100 embodied by the two connected flyingvehicles). A third control model may be utilized for controllingoperation of the flying vehicle 10 while the flying vehicle is attachedto two other flying vehicles in a first configuration (e.g., the threeflying vehicles being connected in a straight line). It should beunderstood that additional control models may be stored in an onboardmemory storage device of a controller 18 of a flying vehicle 10.

As mentioned above, the controller 18 of a single flying vehicle 10 maybe configured to implement a portion of a distributed control model fora flying surface 100, collectively with controllers 18 of other flyingvehicles within the flying surface 100. Thus, the controller 18 may beconfigured to communicate with controllers 18 of other flying vehiclesto determine appropriate movements to implement desired collectivemovements and/or manipulations of a flying surface 100. In variousembodiments, the controller 18 may be configured for independentdeterminations of appropriate movements of a corresponding flyingvehicle 10 to accomplish a portion of an overall collective movement ofa flying surface 100. In other embodiments, the controller 18 may beconfigured to implement control commands generated by another controller18 (or other control station) without independent consideration ofappropriate control signals for the flying vehicle 10. In yet otherembodiments, a controller 18 may be configured to implement a hybridcontrol system, in which control commands are received by the controller18 for a particular flying vehicle 10, and the controller 18 isconfigured to adjust and/or modify the received control commands asnecessary to carry out an overall collective movement of a flyingsurface 100 (or other grouping of a plurality of flying vehicles 10).

In certain embodiments, the controller 18 may be positioned within acontroller housing (not shown) secured relative to a frame 11 of theflying vehicle 10. The controller housing may be configured to protectthe electronic components of the controller 18. Moreover, although notshown, the controller 18 may additionally comprise a display and/or auser input element configured to provide information to a user and/or toreceive user input from a user (e.g., to turn on/off the flying vehicle10). The display and/or user input element may be accessible fromoutside of the controller housing in certain embodiments.

In certain embodiments, the controller 18 is in communication with acommunication module 19 configured for transmitting and/or receivingdata from one or more external sources. In certain embodiments, thecommunication module 19 is embodied as one or more antennae (e.g.,radio-frequency antennae) configured for wireless data receipt and/ortransmission with one or more external sources. The communication module19 may be configured for communicating via any of a variety of wirelesscommunication technologies, such as a Wireless Area Network (WAN) (e.g.,Wi-Fi), a Personal Area Network (PAN), Bluetooth, Bluetooth Low Energy(BLE), cellular data transmission protocols, and/or the like. In certainembodiments, the controller 18 may communicate through custom orspecialized communication protocols provided specifically forcommunication with flying vehicles 10 as discussed herein. In otherexamples, the communication module may be configured for communicatingvia one or more line-of-sight based communication protocols, such asinfrared (IR) communication protocols. Other communication protocols maybe utilized in other embodiments, such as acoustic communicationprotocols and/or the like.

In various embodiments, the communication module 19 is configured forcommunicating with the communication modules 19 of other connectedflying vehicles 10, for example, via data connections integrated withinconnectors 13 of certain embodiments. In certain embodiments, thecontroller 18 of a flying vehicle 10 may also communicate with acentralized controller or long range communication unit that may bepresent within a flying surface 100 or the controller 18 may alsocommunicate with an external command and control unit separate from anyflying surface 100 (e.g., a stationary command and control unit).

In certain embodiments, a flying vehicle 10 may have one or moreauxiliary features that may provide additional functionality to theflying vehicle 10 or a flying surface 100 incorporating the flyingvehicle 10. It should be understood that various flying vehicles 10 maycomprise different (or none) of the example auxiliary features. Forexample, certain flying vehicles 10 may additionally comprise one ormore articulating arms (or other manipulation features, such as hooks,resilient pads, and/or the like) for manipulating objects, a basket orother object support mechanism for supporting and/or carrying at least aportion of an object, or a beacon for providing data and/or signalsexternal to the flying vehicle 10 (e.g., a light-based beacon, asound-based beacon, an infrared-based beacon, and/or the like), a laserbeam for illumination and communication. As other examples, a flyingvehicle 10 may comprise a repeater for extending the range of one ormore signals (e.g., to operate as a temporary cellular network node), areflector to reflect one or more signals, an auxiliary power unit forproviding power to other flying vehicles 10, and/or the like.

Again, it should be understood that different flying vehicles 10 neednot be identical. Certain flying vehicles 10 may have a similar overallshape to facilitate interconnection therebetween. Other flying vehicles10 may have a different overall shape to serve a different overallfunction. For example, certain flying vehicles 10 may not be configuredfor interconnection with other flying vehicles 10, but may instead serveas master controllers for a plurality of other flying vehicles 10 (theonboard controllers 18 of those other flying vehicles operating as slavecontrollers executing control commands transmitted from the mastercontroller onboard a flying vehicle 10). It should be understood thatany of a variety of configurations may be utilized in certainembodiments.

Each flying vehicle may also comprise one or several sensor(s) of thesame of varying kinds to facilitate the dynamic attachment anddetachment process as discussed herein.

Flying Surface

In certain embodiments, a flying surface 100 may comprise an array of aplurality of flying vehicles 10. The flying vehicles 10 within a flyingsurface 100 may be secured relative to one another via joints located onsides of each flying vehicle 10, such that the flying vehicles 10collectively form a single-layer surface (e.g., a planar or non-planarsurface having a plurality of bends, curves, corners, and/or the like).The flying vehicles 10 of certain embodiments are configured toindividually and independently receive power and/or control information(e.g., wirelessly) and to provide controllable thrust. A flying surface100 may be rigid (e.g., characterized by rigid joints between flyingvehicles 10) flexible (e.g., characterized by flexible joints betweenflying vehicles 10), a combination of flexible and rigid joints (e.g.,characterized by rigid joints between a plurality of flying vehicles 10and flexible joints between another plurality of flying vehicles 10), orjoints having an adjustable rigidity (e.g., characterized by joints thatare controllable between a rigid configuration and a flexibleconfiguration, or varying degrees of flexibility). In the case of an atleast substantially rigid flying surface 100, the distributed thrustunits (the thrust units of individual flying vehicles embodied withinthe flying surface 100) may be adjusted independently, enabling theperformance of a broad range of dynamic maneuvers, movements, andattitude control actions in a very seamless and effective fashion.Furthermore, flying surfaces 100 utilizing a large number of small andindependently controllable thrust units is robust in the case of failureof one or more flying vehicles 10, as the non-failing flying vehicleswithin the same flying surface 100 are capable of supporting the failingflying vehicles 10 during flight. FIG. 5 schematically illustrates aflying surface 100 comprising a plurality of individual flying units 10secured via rigid joints therebetween.

As discussed herein, the flying vehicles 10 embodying a flying surface100 of certain embodiments may be independently and individually poweredand controlled, and the flying vehicles 10 may be mechanically attachedrelative to one another. In other embodiments, the flying vehicles 10may share one or more power sources and/or controllers (e.g., via one ormore centralized power sources and/or controllers, or via power sourcesand controllers located on each flying vehicle 10 that are configuredfor sharing power and/or processing resources therebetween).

As discussed herein, the mechanical connection between flying vehicles10 of a flying surface 100 may be rigid in certain embodiments (e.g., asillustrated in FIGS. 2 and 5) or flexible (e.g., via flexible joints orflexible composite materials) (e.g., as illustrated in FIGS. 4 and 6) toenable adjustable conformity and/or dynamically changing of its shape.In certain embodiments, the rigidity of joints between flying vehicles10 may be dynamically adjusted (e.g., during flight) to perform variousflight maneuvers. As an example, one or more joints may be embodied asflexible joints during a first period of time so as to enable the flyingsurface 100 to self-manipulate in a desired shape (e.g., an aerodynamicshape for linear travel), and the joints may then reconfigure to adjusttheir rigidity so as to form rigid joints, so that the shape of theflying surface 100 may be locked during a second period of time.Subsequently, the joints may reconfigure into flexible joints, asdesired, for manipulating the overall shape of the flying surface 100.

Such active aerodynamics of a flying surface 100 are configured forperforming a broad range of functions that would not be otherwisepossible by other more rigid and fixed systems. FIG. 6 illustrates aconceptual distribution thrust vector diagram (with the illustratedarrows extending normal to corresponding flying vehicles 10 of theillustrated embodiment representing thrust forces generated byindividual flying vehicles 10) for a flexible flying surface 100.

A flexible flying surface 100 (characterized by flexible joints betweenflying vehicles 10) enables adjustable modes of operation. For example,flying surfaces 100 according to certain embodiments are configured toself-manipulate the shape of the flying surface 100 via the distributedthrust vectors enabled by the individual flying vehicles 10. Forexample, the flying surface 100 may change between (a) a conicalcruising mode as illustrated in FIG. 7 having an aerodynamic conicalshape (e.g., to minimize air drag by exposing a minimal surface area ofthe flying surface 100 to a direction of travel) to facilitate efficientmovement of the flying surface 100 (in the direction of the illustratedacceleration vector) and (b) an at least substantially planar or concaveshape (e.g., to maximize air drag by exposing a maximum surface area ofthe flying surface 100 to a direction of travel) referred to as abraking mode as shown in FIG. 8 (wherein the flying surface 100 istraveling in a direction opposite the illustrated acceleration vector,and the flying vehicles 10 are applying thrust in a direction oppositethe movement of the flying surface 100 so as to decelerate the flyingsurface 100).

In other embodiments, the flying surface 100 may be configured toperform other maneuvers, such as maneuvering individual ones of theincluded flying vehicles 10 so as to perform object manipulation, objectgrabbing, object holding, object moving, and/or the like. For certainmaneuvers, thrust units of individual flying vehicles may be reversed,so as to provide reverse thrust for the flying vehicle 10 (e.g., toprovide upward thrust while the flying vehicle 10 is oriented upsidedown), to move the flying vehicle 10 to a desired position/orientationquickly, to generate a suction pressure against a held object (asdiscussed herein), and/or the like.

Providing a flexible flying surface 100 (characterized by flexiblejoints between individual included flying vehicles 10 and/or joints ofadjustable rigidity between individual included flying vehicles 10) notonly provides a flying surface 100 having high degrees ofmaneuverability and flexibility, the flexible flying surface 100 alsoprovides substantially similar relationships between theoretical thrustand power consumption. In other words, enabling flexibility of a flyingsurface 100 comes at no extra performance cost. This relationship isdemonstrated in the case of a thrust unit embodied as a motor andpropeller, by considering a propeller with a radius r. Total theoreticalthrust of the propeller in terms of its power P, is given by:

$P = {k\frac{F^{\frac{3}{2}}}{r}}$

Where P is power (in watts), F is the maximum theoretical thrust (innewtons), and

${k = \frac{1}{\sqrt{2\pi \; \rho}}},$

where ρ is the density of air. At 1 atm and 20° C., k is approximately0.36. The maximum theoretical thrust of the propeller in terms of poweris hence given by:

$F = \left( \frac{rP}{k} \right)^{\frac{2}{3}}$

For a total area of A_(tot) defined by the surface area of an entirearray of propellers (e.g., flying vehicles 10 within a flying surface)comprising N total individual propellers, a fill factor of f, and totalconsumed power of P_(tot) would generate a total theoretical thrust ofF_(tot). The corresponding parameters for individual flying vehicles 10(having corresponding propellers and designated with “FV” subscripts)are therefore:

A_(tot)=NfA_(FV)=Nπr²

F_(tot)=NF_(FV)

P_(tot)=NP_(FV)

Based on the above, the total thrust force F_(tot) of a flying surface100 is:

$F_{tot} = {{NF}_{FV} = {{N\left( \frac{r_{FV}P_{FV}}{k} \right)}^{\frac{2}{3}} = {{\frac{1}{k^{\frac{2}{3}}}{N\left( \frac{{fA}_{tot}}{\pi \; N} \right)}^{\frac{1}{3}}\left( \frac{P_{tot}}{N} \right)^{\frac{2}{3}}} = {f^{\frac{1}{3}}\left( \frac{r_{tot}P_{tot}}{k} \right)}^{\frac{2}{3}}}}}$

In the interest of clarity, in the above equation, F_(tot) is the totaltheoretical thrust force of a flying surface 100 having a total surfacearea A_(tot) (and an effective total radius of r_(tot), which may beback-calculated utilizing the above equations) and having N flyingvehicles 10 therein (each flying vehicle 10 generating a totaltheoretical thrust of F_(FV)), based on each flying vehicle 10 includinga propeller having a radius r_(FV), a power input of P_(FV) and theflying surface having a fill factor of f. So, to the first order, thetotal maximum theoretical thrust does not substantially change, forreasonably high fill-factors.

For example, in one example embodiment, flying surfaces 100 areconstructed using an array of flying vehicles 10 each comprising a motor14, a propeller 15, a power unit 16, and a controller 18 (e.g., wirelesscontrol unit). These flying vehicles 10 may be arranged in any of avariety of configurations to form a single-layer flying surface 100,such as those shown in FIGS. 3A-3B and 18A-18H.

In certain embodiments, each flying vehicle 10 independently receivescontrol data (e.g., wirelessly receives control data via RFtransmissions, via an antenna embodied within the propeller 15, frame11, or both) and directly uses the control data to control the motor 14and propeller 15. The control information may be received wirelessly byeach individual flying vehicle 10, thereby eliminating the need for datainterconnections between flying vehicles 10 to minimize the weight ofthe overall flying surface 100, such that the flying surface 100 islight-weight, thereby providing a high degree of agility for the flyingsurface and a low power requirement for movement and lift thereof.

In certain embodiments, one or more of the flying vehicles 10 maycomprise additional functional units, such as cameras, sensors,long-range communication modules, advanced control modules, additionalpower supply units, object manipulation devices (e.g., actuatable arms,actuatable claws, object hooks, and/or the like), and/or the like.Accordingly, the system enables a highly modular reconfigurable aircraft(flying surface 100) capable of fast reconfiguration for differentfunctions and operations by replacing or reconfiguring certainindividual flying vehicles 10 with others having desired functionalunits.

Although the illustrated embodiments of FIGS. 2-8 and 18A-18H illustrateflying surfaces 100 as being at least substantially gapless,characterized by minimal distance between adjacent flying vehicles 10(and a maximum fill-factor) based at least in part on the size of jointsbetween adjacent flying vehicles 10, it should be understood that incertain embodiments, a flying surface 100 may have one or more gapsdefined therein. As just one example, one or more gaps may have a sizeand shape at least substantially similar to the size and shape of aflying vehicle 10. The one or more gaps may be surrounded on one or more(e.g., all) sides by additional flying vehicles 10. As yet otherexamples, a gap may be defined between flying vehicles 10 and may have asize and shape corresponding to natural gaps between adjacent flyingvehicles 10 (e.g., due to geometrical limitations preventing adjacent,irregularly-shaped flying vehicles 10 from forming a gaplessconfiguration).

Moreover, although the illustrated embodiments are specifically directedto single-layer flying surfaces 100, it should be understood that incertain embodiments, flying vehicles 10 may be configured to connectrelative to one another (e.g., via corresponding connectors) to formmultiple layers. In such embodiments, a plurality of single-layer flyingsurfaces 100 may be secured relative to one another (e.g., at leastsubstantially parallel) so as to provide multi-layer flying shrouds,multi-layer flying planks, and/or the like, as may be desired, forexample, to provide additional lift forces for certain configurations.Moreover, as discussed herein, the flying vehicles 10 of a first layermay provide, operate as, or otherwise comprise one or more controlsurfaces for thrust generated by flying vehicles 10 within a secondlayer. The flying vehicles 10 within a first layer may be configured togenerate thrust through operation of their included thrust units, or atleast a portion of the flying vehicles 10 within the first layer may bedeactivated, thereby providing passive control surfaces for manipulatingair flow generated by the thrust units of flying vehicles 10 within thesecond layer.

Distributed Control

Control of a flying surface 100 comprising a plurality of individualflying vehicles 10 may be achieved globally (e.g., utilizing acentralized control model) or locally (e.g., utilizing an onboardcontroller 18). In one embodiment, each flying vehicle 10 (via anonboard controller 18) receives control commands from an externalsource, such as a centralized command unit 91 or from a remotecontrolling system (e.g., such control commands may be distributedwirelessly to one or more flying vehicles 10). Moreover, in certainembodiments, the controller 18 (and the individual flying vehicles 10)may be configured to transmit status data regarding the current statusof the unit (e.g., flying vehicle 10 and/or external source).

In certain embodiments, the status data generated by the controller 18of a particular flying vehicle 10 comprises data identifying the flyingvehicle 10. For example, identifying data may comprise a uniqueidentifier comprising character string such as a unique alphanumericstring, a symbol, and/or the like. The unique identifier may bestagnant, and may be assigned permanently to a particular flying vehicle10. In such embodiments, the unique identifier may be painted, printed,molded, or otherwise disposed to be human readable on a surface (e.g., asurface of a frame 11) of the flying vehicle. However, it should beunderstood that at least a portion of a unique identifier may bedynamically assigned, for example, based at least in part on a positionof a flying vehicle 10 within a flying surface. Accordingly, whenproviding status data to other flying vehicles 10, the identifying datacontained within the status data may be indicative of the relativepositioning of the flying vehicle 10 within a flying surface.

The status data generated by controllers 18 of individual flyingvehicles 10 additionally comprises data indicative of the operatingconditions of the flying vehicle 10, such as the amount of power (orfuel) remaining within a power unit, whether the thrust unit isoperating properly or operating under an error condition, whether theflying vehicle 10 is interconnected with joints to other flying vehicles10 and the type of joints utilized for each interconnection, ifapplicable, which connectors (e.g., identified by connector identifierscorresponding to known positions of the connectors on the flying vehicle10) are engaged within joints to other flying vehicles 10 and what jointtype (e.g., rigid, flexible, dynamic, and/or the like) corresponds toeach connector, and/or the like. In certain embodiments, the status datamay additionally comprise data indicative of one or more sensor outputsfrom sensors onboard the flying vehicle 10, including, for example,altitude data, GPS-positioning data, proximity sensor data, LIDAR sensordata, temperature sensor data, velocity data, acceleration data, rate ofrotation (for example, obtained from a MEMS gyroscope) and/or the like.

In certain embodiments, the status data may comprise data indicative ofa connectivity state of a particular flying vehicle 10. The connectivitystate of a flying vehicle 10 identifies whether the flying vehicle 10 isconnected with other flying vehicles 10, which connectors areincorporated into joints with interconnected other flying vehicles 10(e.g., identified by joint identifiers), a quantity of interconnectedother flying vehicles 10 connected with the particular flying vehicle10. In certain embodiments, the status data for a particular flyingvehicle 10 within a flying surface may additionally comprise dataindicating the total quantity of flying vehicles 10 included within theflying surface.

As discussed herein, each flying vehicle 10 encompasses a correspondingcontroller 18 for generating control signals for the correspondingflying vehicle 10 alone. The controller of a flying vehicle 10 may beconfigured to receive data from an external control system indicating anoverall movement pattern of the corresponding flying surface 100,without individual control signals specific to a particular flyingvehicle 10. In such embodiments, the controller 18 of each flyingvehicle 10 may be configured to self-determine its own location within aflying surface 100, so as to enable a determination of necessarymovements of the flying vehicle 10 to satisfy the overall movementpattern of the corresponding flying surface 100. In certain embodiments,a controller 18 of a flying vehicle 10 may self-determine its ownlocation within a flying surface 100 via any of a variety ofmethodologies. As just one example, each controller 18 may be configuredfor wired or wireless communication with other flying vehicles 10, so asto determine whether and/or how many other flying vehicles 10 areattached directly to a particular flying vehicle 10. The controllers 18of each flying vehicle 10 may communicate therebetween and may sharedata indicative of the number and/or location of flying vehicles 10attached directly thereto. Based at least in part on determinations madeby each flying vehicle 10 of the number and/or locations of flyingvehicles 10 attached thereto, each controller 18 may determine its ownlocation within a flying surface 100. As another non-limiting example,each controller may be configured to receive input identifying itslocation within a flying surface 100. In other embodiments, thecontroller 18 may be configured to utilize the status data storedlocally thereon, and/or the status data of other flying vehicles 10 toself-determine its position within the flying surface 100.

It should be understood that the physics of movement of a flying vehicle10 varies depending on its location within a flying surface 100, andtherefore the flight behavior of the flying surface 100 varies based onthe size and shape of the flying surface 100 (based on the quantity andlocation of flying vehicles 10 within the flying surface 100) and thetype of joints (e.g., flexible, rigid, and/or the like) between flyingvehicles 10 of the flying surface 100. Accordingly, upon a controller ofa particular flying vehicle 10 determining its own location within aflying surface 100, the controller may be configured to identify arelevant control model so as to enable appropriate movements by theflying vehicle 10 to satisfy an overall movement pattern of thecorresponding flying surface 100. As an illustrating example, providingthrust normal to a flying vehicle 10 located centrally within a largeflying surface 100 (such that the flying vehicle 10 is surrounded bymultiple rows of additional flying vehicles 10 on all sides) will likelyresult in the flying vehicle 10 moving in the direction of the providedthrust, however the movement of the flying vehicle 10 will be affectedby thrust provided by flying vehicles 10 surrounding the flying vehicle10 in question. By contrast, a flying vehicle 10 attached on only oneside to a series of other flying vehicles 10 by a flexible joint will becharacterized by other control behavior by a thrust generated normal tothe flying vehicle 10. Rather than moving in a linear direction at leastsubstantially parallel to the generated thrust, the thrust generatedcreates a moment about the joint, causing the flying vehicle 10 to movein an angular direction about the joint (assuming the connected flyingvehicles 10 do not have parallel and equal thrust outputs).

Accordingly, to implement an overall movement pattern of a flyingsurface 100, each flying vehicle 10 may be configured to compare itscurrent location, orientation, angle, and/or the like (e.g., determinedvia one or more onboard sensors) relative to a target position of theflying vehicle 10, as determined by the overall movement pattern. Upondetermining that one or more positional adjustments are necessary toachieve the overall movement pattern, the controller 18 provides controlsignals to the onboard thrust unit based on a control model implementedin accordance with determined physics of movement of the flying vehicle10 within the flying surface 100 to move the flying vehicle 10 toward adesired position. The controller 18 may utilize a control loop to detectas the flying vehicle 10 is moving toward the desired position to makenecessary adjustments to the control signals provided to the onboardthrust unit to achieve the desired positioning of the flying vehicle 10.The control loop (e.g., detecting the current positioning of a flyingvehicle 10 and comparing the detected position relative to a desiredposition) enables individual flying vehicles 10 to accommodate disabledflying vehicles 10 within the flying surface 100 by adjusting the amountof thrust generated by a thrust unit of an individual flying vehicleand/or variations in control surface (if present) 10 upon adetermination that additional thrust is required to move the flyingvehicle 10 to a desired position (e.g., as a result of a disabled flyingvehicle 10 within the flying surface 100 failing to aid in movement ofthe flying surface 100).

As discussed herein, an overall movement pattern of a flying surface 100may encompass any of a plurality of movements and may be dependent atleast in part on whether included joints between flying vehicles 10 arerigid or flexible. As discussed in the below example use cases, anoverall movement pattern may enable a flying surface 100 to grasp and/ormanipulate objects (e.g., between flying vehicles 10), to self-configurethe shape of the flying surface 100 to facilitate movement through theair, and/or the like. In each of the described overall movementpatterns, individual flying vehicles 10 are configured to self-determineappropriate movements for the individual flying vehicles 10 so as toimplement the overall movement pattern of the flying surface 100.

Moreover, the distributed control methodology may be configured toenable one or more controllers 18 of flying vehicles 10 within a flyingsurface 100 to depower (e.g., power off, enter a stand-by mode, orotherwise cause the onboard thrust unit to discontinue generatingthrust) upon a determination that a depowered operation is necessary toachieve a control pattern of the overall flying surface 100.

Additionally, although the controller 18 is described above as embodiedas a single controller-device, it should be understood that a controller18 in accordance with certain embodiments may comprise a pluralityinteracting controllers 18 (e.g., of one or more flying vehicles 10),where the overall behavior of the flying surface 100 is controlledthrough the aggregate overall behavior of the controllers 18 and theirinteractions.

Centralized Control

In other embodiments, the flying vehicles 10 of a flying surface 100 maybe controlled in accordance with a centralized control configuration,such that controllers of individual flying vehicles 10 receive directcontrol instructions from a centralized controller that may be conveyeddirectly to an onboard thrust unit. Thus, rather than individualcontrollers having to make determinations of how the flying surface 100will react to particular control signals provided to the onboard thrustunit, a centralized control system makes determinations of appropriatecontrol signals to be provided to onboard thrust units.

As a specific example, at least a portion of the controllers 18 offlying vehicles 10 within a flying surface 100 become configured asslave controllers to one or more master controllers. In certainembodiments, a master controller may be embodied as one of thecontrollers of a particular flying vehicle 10 within a flying surface100. In other embodiments, the master controller may be embodied as acontrol unit located external to the flying surface 100, such as on adifferent flying device (e.g., not physically connected to flyingvehicles 10 within the flying surface 100), on a stationary device(e.g., located on the ground), and/or the like. As just one example, acentralized control unit may be embodied as a base station orcommunication hub specifically configured for operation with one or moreflying vehicles 10 (e.g., comprising appropriate communicationtransmitters/receivers so as to transmit and/or receive signals to/froma plurality of flying vehicles 10). In certain embodiments, such a basestation or communication hub may be configured for transmitting aplurality of signals, for example, to be received by a plurality offlying vehicles 10 (e.g., utilizing different transmission frequencies,time-division communication signals, frequency-division communicationsignals, and/or the like). In certain embodiments, a singlecommunication signal transmitted from a base station or communicationhub may be provided for receipt by a plurality of flying vehicles 10,and the communication signal may comprise flying vehicle-specific datasegments (e.g., delimited portions of data) applicable for each of aplurality of flying vehicles 10. In such embodiments, the controller 18of each flying vehicle may be configured to identify applicable portionsof the transmission (e.g., based on unique identifiers included withinthe data transmission) so as to carry out appropriate control commandsas indicated within the data transmission.

In such embodiments, the master controller is configured to transmitsignals to one or more slave controllers within the flying surface 100,specifically instructing those slave controllers how to interact withthrust units onboard the individual flying vehicles 10. In certainembodiments, signals transmitted from the master controller may betransmitted together with a unique identifier corresponding to aparticular slave controller. The unique identifier may be utilized byeach slave controller to determine whether associated signals areapplicable to a particular slave controller. In use, a particular slavecontroller receives signals from the master controller and determineswhich (if any) received signals are applicable to the slave controllerbased at least in part on comparing a unique identifier received withthe signals against a unique identifier stored locally at the slavecontroller. Upon identifying one or more signals applicable to theparticular slave controller, the slave controller provides controlsignals to the onboard thrust unit in accordance with the receivedsignals, so as to implement the signals received. Each of a plurality ofcontrollers corresponding to individual flying vehicles 10 within theflying surface 100 separately implement signals designated by specificunique identifiers, and collectively the flying vehicles 10 implement anoverall movement pattern of the flying surface 100.

Moreover, slave controllers may be configured to transmit status data tothe master controller, thereby enabling the master controller toaccommodate disabled and/or malfunctioning flying vehicles 10. Forexample, upon a master controller determining that one or more flyingvehicles 10 are malfunctioning (e.g., based on a failure to receivestatus data from a flying vehicle 10 at a designated time), the mastercontroller may be configured to adjust control signals to be provided toother, functional flying vehicles 10 to accommodate the determineddisabled flying vehicle 10. In other embodiments, the status dataprovided by a flying vehicle 10 may further comprise positional dataand/or dynamic operational information (e.g. attitude, airspeed,thruster instantaneous power, and/or the like), thereby enabling themaster controller to implement a control loop similar to that discussedabove in reference to the decentralized control. For example, the mastercontroller may be configured to determine, based at least in part onstatus data received from the individual flying vehicles 10, whether aflying vehicle 10 is in a desired position, and to provide controlsignals to the flying vehicle 10 to cause the flying vehicle 10 to movetoward a desired position.

Moreover, the centralized control configuration enables individualflying vehicles 10 to be disabled or otherwise depowered in order toaccommodate desired positioning of various flying vehicles 10 within aflying surface 100.

It should be understood that certain embodiments may utilize a hybridcontrol configuration, encompassing both distributed and centralizedcontrol features. For example, overall control behaviors, maneuvers,and/or the like, applicable to a flying surface 100, a swarm of flyingvehicles 10, and/or the like, may be generated at a centralizedcontroller, and command signals may be provided to a plurality ofcontrollers 18 of individual flying vehicles 10 in accordance with thecentralized control aspects. Those individual flying vehicles 10 may beconfigured to adjust or otherwise modify the command signals uponreceipt, for example, to accommodate characteristics of the environmentsurrounding the flying vehicle 10, to accommodate current performance ofthe flying vehicle 10 (e.g., underpowered thrust unit, differencesbetween theoretical and actual movements based on joints with otherflying vehicles 10, and/or the like). Other embodiments may utilize ahybrid control configuration so as to accommodate differences in flyingvehicles 10, to accommodate differences in control configurations ofmultiple flying surfaces 100, and/or the like.

Wireless Power Transmission

In certain embodiments, flying vehicles 10 and/or flying surfaces 100are configured for wireless power transmission, for example, asillustrated in FIG. 9. The resulting flying surface 100 may becharacterized by a light weight, highly versatile active aerodynamicsurface, for example, as shown in FIG. 9.

As just one example, a flying surface 100 may comprise a plurality offlying vehicles 10 each comprising a motor 14 and propeller 15 (or otherthrust unit), a wireless power recovery unit, and a wireless controlunit (e.g., controller 18). The flying vehicles 10 may be arranged invarious configurations, such as those discussed herein.

As shown in FIG. 9, each flying vehicle 10 of certain embodimentsindependently receives wireless power (e.g., via RF power transmissionsfrom a power generation unit) and control information (e.g., viawireless data transmission protocols). The wireless power and/or thecontrol information may be received at each flying vehicle 10 via one ormore antennae implemented on/within the frame 11, the propeller 15,and/or the like and directly utilizes the received power to power athrust unit. Moreover, the control information may be receivedwirelessly at each flying unit 10, for example, from a centralizedcommand unit 91 as shown in FIG. 9. In such embodiments, the flyingsurface 100 need not have any interconnectivity between flying vehicles10, making the flying surface 100 extremely lightweight and versatile.

The control behavior of the flying surface 100 may be executed globally(e.g., via a centralized control unit) or locally (e.g., via controllerslocal on each flying vehicle 10), or in a hybrid arrangement wherecertain decision and commands are issued globally and certain othercommands are performed locally. In certain embodiments, each flyingvehicle 10 receives control commands from either a centralized commandunit in the flying vehicle (or external to the flying vehicle) orwirelessly from a centralized command unit 91, and in variousembodiments the flying vehicles 10 may be configured to transmitpertinent measurement information about the status of the flying vehicle10.

In certain embodiments, each flying unit is configured to receive and/orrecover RF and/or microwave power transmissions from a remote power unit90. This power recovery may be executed via one or more mechanisms. Forexample, the frame 11 of the flying vehicle 10 may comprise antennaeand/or rectification units to convert the received energy to DC power todrive an onboard motor 14 of a thrust module, for example, as shown inFIG. 1A. As another example, the recovery antennae and/or rectificationunits may be integrated as a part of a propeller 15 (as shown in FIG.1B) and may be configured to directly feed the motors via integratedrectifiers 10 of the flying vehicle 10.

With reference to FIG. 9, the remote power unit 90 may comprise and/ormay be in communication with a power source, such as a power grid, asolar power system, a power storage system (e.g., one or morebatteries), and/or the like. The remote power unit 90 may additionallycomprise a transmitter, such as a phased array transmitter configuredfor radio frequency (RF) and/or microwave power transmission.

In certain embodiments, the remote power unit 90 and the centralizedcommand unit 91 may utilize a shared transmitter (e.g., a sharedtransmission array system). In other embodiments however, the remotepower unit 90 and centralized command unit 91 may utilize separatetransmitters, for example, operating at different frequencies, ondifferent time divisions, and/or the like. In certain embodiments, thepower signals and/or control signals may be received at individualflying vehicles 10 via shared antennae or via separate antennae (e.g., afirst antenna is configured for receipt of power signal receipt and asecond antenna is configured for control signal receipt).

As discussed herein, the flying vehicles 10 may comprise an onboardpower unit, such as a power storage unit (e.g., one or more batteries).Accordingly, each flying vehicle 10 may be configured to receive powertransmissions from a power generation unit 90, for example, while theflying vehicles 10 are within range of the power generation unit 90, andto store power within an onboard power unit, thereby enabling the flyingvehicles 10 to operate outside of transmission ranges of the powergeneration unit 90. Although the illustrated embodiment of FIG. 9 showsthe power generation unit 90 as stationary, it should be understood thatin certain embodiments, the power generation unit 90 may be within, on,or otherwise associated with another flying vehicle, a movingground-based or water-based vehicle and/or the like, so as to provide amovable power generation unit 90 configured to provide power to one ormore flying vehicles 10 (e.g., within a flying surface 100) mid-flightof the flying vehicles 10.

Flying Surface Operation

As discussed herein, the control behavior of the flying surface 100 maybe achieved via global control (e.g., via a centralized controller) ordistributed local control (e.g., via control performed at individualflying vehicles 10) and may be based at least in part on predictedflight behaviors of the flying vehicle. As discussed herein, each flyingvehicle 10 receives control commands from a centralized command unit 91within the flying surface 100 or wirelessly from a centralized commandunit 91 external to the flying surface 100. In certain embodiments, eachflying vehicle 10 transmits pertinent measurement information (e.g.,generated by onboard sensors), which may be a part of status data, to acommand unit, remote controlling system, and/or the like. In otherembodiments, also as discussed herein, each flying vehicle 10 operatesindependently to generate its own control signals so as to implement anoverall movement pattern of the flying surface 100.

In certain embodiments, the flying surface 100 is characterized by rigidjoints between connected flying vehicles 10 included therein. In suchembodiments, the flying surface 100 operates as a rigid flying surface100 maneuverable as a rigid body.

In other embodiments, the flying surface 100 is characterized byflexible joints between some or all of the connected flying vehicles 10included therein. In such embodiments, the flying surface 100 operatesas a flexible flying surface 100 in which individual flying vehicles 10are movable relative to adjacent and connected flying vehicles 10, andaccordingly the overall flying surface 100 is maneuverable throughindividual movements of specific flying vehicles 10 connected in aflexible manner.

In yet other embodiments, the flying surface 100 is characterized bydynamically reconfigurable joints having configurable rigidity. In suchembodiments, control of the flying surface 100 may encompass changingthe rigidity of one or more joints (e.g., to selectably lock the flyingsurface 100 in a desired configuration, and to subsequently unlock theflying surface 100 so as to change the shape of the flying surface 100).

In certain embodiments, flying vehicles 10 may have aerodynamicallyefficient flight behaviors within a flying surface 100 by collectivelyproviding sufficient thrust for the flying surface 100 to sustain theflying surface 100 in flight. FIGS. 10-16 show various examples of thesimulated airflow obtained using computational fluid dynamics for aflying surface 100 having 6 individually powered flying vehicles 10. Theflying surface 100 may be stabilized with a dynamic control system whichutilizes the core concept of active aerodynamic surface. Moreover,although the illustrated examples show all airflow in a single directionthrough multiple flying vehicles 10, it should be understood that thethrust units of flying vehicles 10 may be reversible as discussed herein(e.g., a motor configured to reverse the direction of rotation of apropeller), so as to change the movement direction of a particularflying vehicle 10, for example, to perform certain aerial maneuvers.

FIGS. 10-11 illustrate simulated airflow of a rigid flying surface 100having 6 individually powered flying vehicles 10 each generating equalthrust and characterized by rigid joints between individual flyingvehicles 10. The simulated airflow of the rigid flying surface 100 shownin FIGS. 10-11 illustrates a first flight behavior of a flying surface100, which may be implemented via distributed or centralized control ofthe included flying vehicles 10.

FIG. 12 illustrates simulated airflow of a rigid flying surface 100having 6 individually powered flying vehicles 10, wherein 3 flyingvehicles on the illustrated left side of the figure area generatingdownward facing thrust, and 3 flying vehicles on the illustrated rightside of the figure are generating equal amounts of upward facing thrust,thereby generating torque for movement of the flying surface 100. FIG.12 illustrates another flight behavior of a flying surface 100, whichmay be implemented via distributed or centralized control of theincluded flying vehicles 10.

FIGS. 13-14 illustrate simulated airflow of a flexible flying surface100 having 6 individually powered flying vehicles 10 arranged in aconcave configuration, such that thrust generated by each of theindividually powered flying vehicles 10 is directed normal to thecorresponding flying vehicle 10 and outward from the concave shape ofthe flying surface 100. As shown, providing thrust from the flyingvehicles 10 in the illustrated configuration may be utilized to move aflying surface 100 in a linear direction. FIGS. 13-14 illustrates yetanother flight behavior of a flying surface 100, which may beimplemented via distributed or centralized control of the includedflying vehicles 10.

FIGS. 15-16 illustrate simulated airflow of a flexible flying surface100 having 6 individually powered flying vehicles 10 arranged in aconvex configuration, such that thrust generated by each of theindividually powered flying vehicles 10 is directed normal to thecorresponding flying vehicle 10 and inward from the convex shape of theflying surface 100. As shown, providing thrust from the flying vehicles10 in the illustrated configuration may be utilized to move a flyingsurface 100 in a linear direction. FIGS. 15-16 illustrates anotherflight behavior of a flying surface 100, which may be implemented viadistributed or centralized control of the included flying vehicles 10.

As discussed herein, the controllers 18 of individual flying vehiclesincluded within a flying surface 100 may be configured to determine apredicted flight behavior of the overall flying surface 100 whengenerating control signals for controlling onboard thrust units.Depending on the use of a particular flying surface (e.g., as discussedherein), the controllers 18 may be configured to generate appropriatecontrol signals to implement a desired operation of the overall flyingsurface 100, considering the predicted flight behavior of the overallflying surface 100. As just one example, upon determining that oneflying vehicle 10 within a flying surface 100 comprises a camera, thecontrollers 18 of the flying vehicles 10 may be configured to generatecontrol signals that cause the overall flying surface 100 for stablerepositioning of the camera, such that the camera remains substantiallystable (with minimal oscillation) during movements of the flying surface100.

Dynamic Reconfiguration of a Flying Surface

The operation of a flying surface 100 may be selectably reduced to aswarm of individual flying vehicles 10 (or smaller flying surfaces 100comprising a small plurality of flying vehicles 10), reconfigureddynamically in-flight, and/or to dispatch certain portions of the flyingsurface 100 (e.g., a subset of the flying vehicles 10 of the flyingsurface 100) to perform certain tasks and/or to reattach and reconfigurein flight provides significant advantages over traditional aircraft. Asyet other examples, flying vehicles 10 of a first flying surface 100 maybe configured to detach mid-flight, to travel to a second flying surface100, and attach to the second flying surface 100 mid-flight.

A dynamically reconfigurable, flying surface 100 configured to detachand attach during flight (e.g., portions of the flying surface 100, suchas individual flying vehicles 10) and to reconfigure and reorganizeprovides a broad range of applications. In various embodiments,individual flying vehicles 10 of the flying surface 100 may beconfigured to detach and/or reattach in the same or a differentconfiguration in-flight (e.g., to change the configuration of the flyingsurface 100 in-flight). For example, various embodiments are configuredto change the overall behavior of the flying surface 100 by rearrangingconnected flying vehicles, to operate as a swarm of smaller flyingsurfaces 100 and/or a swarm of flying vehicles 10, to capture a failingor faulty flying vehicle 10, to dispatch a subset of flying vehicles 10to perform a task, and/or the like.

Flying vehicles 10 in accordance with various embodiments are configuredto mechanically detach and/or attach relative to one another in-flight,thereby enabling in-flight mechanical reconfiguration of the flyingsurface 100 under power of the thrust units of individual flyingvehicles 10 (controlled by respective controllers 18 of the flyingvehicles 10) and/or based on signals generated by one or more onboardsensors of individual flying surfaces 10 (e.g., proximity sensors,contact sensors, location sensors, and/or the like). In suchembodiments, at least a subset of the flying vehicles 10 forming theflying surface 100 are configured to mechanically separate from the mainstructure of the flying surface 100, to fly independently and/or in aswarm configuration, and/or to be able to reattach and reconfigurerelative to one another to form a larger flying surface 100 that mayoperate as a singular aircraft. As discussed herein, individual flyingvehicles 10 may be configured for distributed control configurations, inwhich controllers of each of the individual flying vehicles 10 operateindependently to self-control movements (e.g., based at least in part ondata identifying an overall desired movement pattern of the flyingsurface 100 and/or plurality of flying vehicles 10). In otherembodiments, the individual flying vehicles 10 may be configured for acentralized control configuration (or a hybrid control configuration),in which controllers of each of a plurality of flying vehicles 10operate to execute control command received from a centralizedcontroller configuration. In such embodiments, a controller 18 of afirst flying vehicle 10 may operate as a centralized controller,configured to provide control commands to a plurality of other flyingvehicles 10, whether those other flying vehicles 10 are located within acommon flying surface 100 with the centralized control flying vehicle10, within a swarm with the centralized control flying vehicle 10,and/or the like.

In certain embodiments, individual flying vehicles 10 are configured totake-off as singular units (or as small flying surfaces 100 of a smallnumber of flying vehicles) and to join relative to one another in-flightto form a larger flying vehicle to operate as a singular aircraft. Itshould be understood that while the present disclosure focuses ondynamic attachment and detachment of flying vehicles 10 in-flight, theseflying vehicles 10 may be attached and/or detached relative to oneanother when not in flight (e.g., while resting on a support surface).

Flying vehicles 10, such as those discussed above, may attach relativeto one another to form a flying surface 100, such as the example flyingsurface 100 illustrated in FIGS. 2-4B. As illustrated in the figures,the flying surface 100 may be embodied as an at least substantiallyrigid flying plank (e.g., as illustrated in FIG. 2) or as a flexibleflying shroud (e.g., as illustrated in FIGS. 4A-4B, demonstrating hingedconnectors 13 between flying vehicles 10 and flexible compositeconnectors 13, respectively).

As demonstrated at least by the illustrated connectors 13 of FIGS.4A-4B, the connectors 13 may be configured for dynamic detachment viaone of various mechanisms, such as reattaching joints, reconfigurablememory metals, electromagnetics, and/or the like as discussed herein.Such dynamic reconfiguration mechanisms enable a large number ofreconfigurations to be possible through detachment and reattachment ofdifferent flying vehicles 10 during flight (e.g., as shown conceptuallyin FIG. 17). Such operation is at least in part enabled by the autonomyof each flying vehicle 10 having its own energy source, communicationand control units, navigation, thrust units, and/or the like.

While many configurations of flying surfaces 100 and subsets (e.g.,small numbers of interconnected flying vehicles 10) are possible andnone is excluded here (explicitly or implicitly), certain arrangementsof thrust units (e.g., motors 14 and corresponding propellers 15) withinflying vehicles 10 have been found to offer advantages. For example, inthe exemplary embodiment of FIGS. 18A-18H, small subdivisions of aflying surface 100 comprise at least four flying vehicles 10 (which maybe independently controllable to provide a distributed control model forthe small subdivisions of the flying surfaces 100) that are mechanicallyconnected to form joints therebetween to provide full attitude andthrust control without any counteracting torque effect. As examplesshown in FIG. 18A-18H, a flying surface 100 may comprise 4 triangularflying vehicles 10 attached relative to one another as shown in FIG.18A. The flying surface 100 of FIG. 18A may be secured to relative toother, identically configured flying surface 100 to form a larger flyingsurface 100, such as that shown schematically in FIG. 18E. As anotherexample, a flying surface 100 may comprise 4 square flying vehicles 10attached relative to one another as shown in the configuration of FIG.18B. The flying surfaces 100 of FIG. 18B may be attached relative toother flying surfaces 100 to form a larger flying surface 100, such asthat shown in FIG. 18F. As yet another example, a flying surface 100 maycomprise 4 hexagonal flying vehicles attached relative to one another asshown in FIG. 18C. The flying surfaces 100 of FIG. 18C may be attachedrelative to other flying surfaces 100 to form a larger flying surface100, such as that shown in FIG. 18G. In other embodiments, a flyingsurface 100 may comprise 7 hexagonal flying surfaces 100, such as thatshown in FIG. 18D. The flying surfaces 100 of FIG. 18D may be attachedrelative to one another to form a larger flying surface 100, such asthat shown in FIG. 18H. It should be understood that the illustratedembodiments of FIGS. 18A-18H are merely examples, and otherconfigurations may be provided in accordance with various embodiments.

Such reconfigurability can enable a broad range of applications, such asswitching between a flying surface 100 and a swarm, service to monitor abroad swath of land in a short period of time, providing an ad hoccommunication network over a wide geographic area (e.g., by supportingcommunication equipment with one or more flying surfaces 100) whileenabling the return of individual flying vehicles 10 before those flyingvehicles 10 fail. As other examples, reconfiguration of flying vehiclesbetween swarm and flying surface 100 configurations enable those flyingvehicles 10 to move through narrow and/or difficult to access areas, toprovide redundancy in hazardous operational areas or in search andrescue operations, such as in collapsed buildings or other structureswhere the potential for multiple unit failure or damage is high, whilemaintaining the ability to form a larger aircraft embodied as a flyingsurface 100.

In various embodiments, a large array of small, substantially similarflying vehicles 10 configured for independent control of the power anddirection of operation of the propeller (or other thrust unit) may beassembled into a flying surface 100. Such a flying surface 100 may beinternally rigid or flexible, or a combination thereof (e.g., having oneor more rigid joints and one or more flexible joints), or having jointswith dynamically adjustable rigidity. Both present useful mechanical andaerodynamic properties not achievable with existing aircraft. Forexample, rigid flying planks having distributed thrust vectors that maybe adjusted independently, thereby enabling the performance of a broadrange of dynamic maneuvers, movements, and attitude control actions in avery seamless and effective fashion. Furthermore, such flying surfaces100 utilizing a large number of small, independently controllable flyingvehicles 10 with independently controllable thrust units provides a morerobust overall aircraft in the case of failure of one or more individualflying vehicles 10.

In various embodiments, the plurality of flying vehicles 10 may beconfigured for operation collectively as a flying surface 100,collectively as a swarm, or individually as separate flying vehicles 10.In a swarm configuration, the plurality of flying vehicles 10 remainphysically detached from one another, but operate collectively, so as tomaintain desired distances between adjacent flying vehicles 10 withinthe swarm. In yet other embodiments, a plurality of flying surfaces 100each comprising a plurality of flying vehicles 10 may operatecollectively as a swarm, so as to maintain a desired distance betweenadjacent flying surfaces 100.

With reference again to FIG. 17, flying vehicles 10 and/or flyingsurfaces 100 may be configured for dynamic reconfiguration mid-flight.For example, one or more flying vehicles 10 may be configured to joinrelative to one another mid-flight to form a flying surface 100.Similarly, one or more flying surfaces 100 may join relative to oneanother mid-flight to form a larger flying surface 100.

When one or more flying vehicles 10 (whether individually or as a flyingsurface 100) join relative to other flying surfaces 100 mid-flight, theflying vehicles 10 may utilize one or more sensors (e.g., proximitysensors, vision sensors, and/or the like) to detect the presence of anearby other flying vehicle 10 for connection therewith. As the flyingvehicles 10 approach one another, the onboard controllers of the flyingvehicles 10 monitor relative movement of respective flying vehicles 10,including effects of air turbulence caused by the approaching adjacentflying vehicles (e.g., such air turbulence is illustrated in FIGS.19-20, which demonstrates the air turbulence caused by two flyingsurfaces 100, each comprising three flying vehicles 10 approaching oneanother). As the flying vehicles 10 approach one another, the flyingvehicles 10 are configured to engage connectors of respective vehiclesto form joints therebetween. As discussed herein the connectors maycomprise press-fit connectors configured to engage and form jointstherebetween upon application of appropriate force. In otherembodiments, the connectors may comprise actuators (or other activeelements) configured to be engaged upon a trigger event (e.g., upondetecting that the connectors are pressed together) to form a joint. Theaction of connectors to form/detach from joints may, in certainembodiments, be aided or guided at least in part through wirelesscommunications between the adjacent flying vehicles 10 (e.g., based atleast in part on a strength of a wireless communication signal,indicative of a distance between flying vehicles 10, based at least inpart on the content of a wireless communication, which may indicatewhether another flying vehicle 10 has detected contact between flyingvehicles 10, and/or the like).

Moreover, the flying surfaces 100 may be configured to detach mid-flightin certain embodiments. As discussed above, the joints may be formed byactuatable connectors that may be disengaged mid-flight (e.g., bycontrolling an actuator within the connectors to disengage theconnectors). Accordingly, one or more flying vehicles 10 and/or flyingsurfaces 100 may be configured to detach from one another, so as toenable independent movement of the flying vehicles and/or flyingsurfaces 100. For example, the flying vehicles 10 of a flying surface100 may be configured to disengage from one another to form a flyingswarm mid-flight (e.g., a flying swarm of a plurality of separatedflying vehicles 10 or a flying swarm of a plurality of smaller flyingsurfaces 100). As another example, the flying vehicles 10 may beconfigured to disengage from one another to accomplish independent tasks(e.g., a smaller flying surface 100 may detach from a larger flyingsurface 100 to perform tasks away from the larger flying surface 100).

Similarly, the flying vehicles 10 of a flying surface 100 may beconfigured to detach mid-flight and reattach mid-flight, for example, toreconfigure the shape of a flying surface 100. As just one example, aflying surface 100 may be configured to remain in a first configurationoptimized for efficient travel through air during a first period of time(e.g., until arrival at a desired destination), and to reconfigure intoa second configuration optimized for object configuration during asecond period of time (e.g., after arrival at the desired destination).It should be understood that any of a variety of configurations may beprovided in accordance with certain embodiments.

Example Use Cases

Flying vehicles and/or flying surfaces 100 as discussed herein may beutilized in various implementations, such as surveillanceimplementations, object delivery implementations, object manipulationimplementations, airflow manipulation, search and rescue, dynamicallydeployable communication hub or base stations, and/or the like.

In surveillance implementations, one or more flying vehicles 10 maycomprise a camera, microphone, or other surveillance devices. In otherembodiments, one or more flying vehicles 10 may be configured to supporta camera, microphone or other surveillance devices (e.g., a flyingvehicle 10 may independently support a camera or microphone, or aplurality of flying vehicles 10 forming a flying surface 100 may beconfigured to collectively support a camera or microphone).

To conduct surveillance, a plurality of flying vehicles 10 may operatecollectively to support one or more surveillance devices during transitto a surveillance destination. The plurality of flying vehicles 10 mayoperate as physically separate devices (e.g., as a swarm), the pluralityof flying vehicles 10 may operate in one or more flying surfaces 100, ora combination thereof (e.g., a swarm of flying surfaces 100). In certainembodiments, the plurality of flying vehicles 10 may be configured tochange between various configurations (e.g., between a swarmconfiguration and a single flying surface 100 configuration, or viceversa) depending on a phase of surveillance. For example, the pluralityof flying vehicles 10 may be configured to travel to a surveillancedestination in a first configuration (e.g., as a single flying surface100) and to transition to a second configuration upon arrival at asurveillance destination (e.g., a plurality of physically separateflying surfaces 100 and/or a plurality of physically separate flyingvehicles 10). As just one example, a plurality of flying vehicles 10 maybe configured to travel to a surveillance destination as a single flyingsurface 100, and to split into a plurality of smaller flying surfaces100 upon arrival at the surveillance destination, for example, tosurround the surveillance destination to collect additional surveillancedata via surveillance equipment supported by the flying surfaces 100.

As yet another example, the plurality of flying vehicles 10 may travelto a surveillance destination as a plurality of physically separateflying vehicles 10, for example, to minimize the possibility ofdetection of all flying vehicles 10 travelling to the surveillancedestination, and/or to facilitate maneuvering the flying vehicles 10through one or more small openings, apertures, and/or the like (e.g., toenter a building or other structure) along the travel path of the flyingvehicles 10 to the surveillance destination. Upon arrival at thesurveillance destination, the plurality of flying vehicles 10 may beconfigured to reconfigure into one or more flying surfaces 100, forexample, to increase the stability of the flying vehicles 10 supportingthe surveillance equipment. As yet another example, upon arrival at thesurveillance destination, the plurality of flying vehicles 10 may beconfigured to reconfigure into one or more flying surfaces 100, whereinthe flying surfaces 100 each comprise a first flying vehicle 10comprising a camera (or other surveillance equipment) and a secondflying vehicle 10 comprising a wireless data transmitter configured forlong-range wireless communication to convey surveillance data collectedby the camera to a separate location. In such embodiments, the pluralityof flying vehicles 10 may be configured for data transmission (e.g.,wired data transmission) therebetween, so as to facilitate datatransmission from the camera (or other surveillance equipment) to thewireless data transmitter.

As yet another example implementation, various embodiments may beconfigured for delivery of objects. As each flying vehicle 10 may have aweight capacity for supporting objects, various embodiments areconfigured to provide flying surfaces 100 having a weight capacity (asdefined by the collective weight capacity of the included flyingvehicles 10) sufficient to carry a particular object. In certainembodiments, one or more flying vehicles 10 may comprise an objectsupport (e.g., a basket, an articulatable claw, a clamp, and/or thelike) configured for supporting an object for delivery. In otherembodiments, a flying vehicle 10 may comprise only a portion of anobject support, which may be configured to collectively support anobject together with one or more additional flying vehicles 10comprising corresponding portions of an object support. Thus, aplurality of flying vehicles 10 may be collectively configured tosupport an object larger than a single flying vehicle 10 itself.

As just one example, the one or more connectors may be configured asobject supports (or portions of object supports), such that one or moreflying vehicles 10 may be configured to engage an object in a mannersimilar to that discussed above for engaging multiple flying vehiclesrelative to one another. Thus, a flying vehicle 10 may be configured toapproach, contact, and/or engage connectors on an object, such that theflying vehicle 10 is configured to support an object by forming a jointwith the object.

In certain embodiments, the flying surface 100 may be configured toincorporate redundant support for a carried object. For example, aplurality of flying vehicles 10 may each engage and support an objectfor delivery (or for other uses), such that detachment of one or moreflying vehicles 10 does not cause the flying surface 100 to drop thesupported object. Thus, during extended delivery routes (or extendedtime periods during which an object is to be held by a flying surface,such as supporting a wireless data network repeater), flying vehicles 10may be periodically removed from the flying surface 100 and replacedwith other flying vehicles 10 (e.g., having charged power units, havingfunctional thrust units, and/or the like) without dropping the supportedobject.

It should be understood that object delivery functionality may beutilized in a variety of contexts, including delivery of shippedobjects, such as to fulfill an order, humanitarian efforts, such asdelivery of food and/or water to regions or individuals (e.g., indisaster areas), and/or the like. Object delivery functionality may becombined with surveillance functionality in certain embodiments, such asin search-and-rescue operations, where one or more flying vehicles 10and/or flying surfaces 100 may be configured to search for individualsand to delivery objects (e.g., food, water, first aid supplies) beforerescue personnel can arrive to provide support. Thus, in certainembodiments, a flying surface 100 may comprise one or more flyingvehicles 10 supporting/encompassing surveillance equipment (e.g.,cameras, vision sensors, LIDAR sensors, radar sensors, heat sensors,and/or the like) configured to facilitate a search forindividuals/regions/objects, and the same flying surface may compriseone or more flying vehicles 10 configured for supporting an object fordelivery (or manipulation, as discussed in greater detail herein). Incertain embodiments, one or more flying vehicles 10 may be configured tosupport both surveillance equipment and one or more objects fordelivery.

In certain embodiments, a swarm of a plurality of flying vehicles 10and/or flying surfaces 100 may be configured to perform surveillance andobject delivery functionalities collectively. For example, a firstflying surface 100 may be configured for object delivery (and/or objectmanipulation) and a second flying surface 100 may be configured forsurveillance. In such an embodiment, the movement patterns of the firstflying surface 100, such as destinations, where to release a supportedobject, and/or the like, may be dictated at least in part by datagenerated by the second flying surface 100. For example, the secondflying surface 100 may identify an individual person within a disasterzone (e.g., a collapsed building that is inaccessible to rescuepersonnel) and may provide data to the first flying surface 100indicating where the first flying surface 100 should deliver carriedobjects to the location of the identified individual person. Suchembodiments may utilize a hybrid control configuration, wherein thesecond flying surface 100 provides (e.g., transmits) data regarding adesired location for travel to the first flying surface 100, and thefirst flying surface 100 modifies/adjusts the received data so as tobest carry out the desired task (e.g., adjusting the exact deliverylocation to accommodate differences between the exact location of thecarried object within the flying surface 100 and a side edge of theflying surface 100).

As another example use case, a flying surface 100 may be utilized tomanipulate an object, for example, utilizing one or more flying vehicles10 to contact or otherwise engage an object, and utilizing other flyingvehicles 10 within the same flying surface 100 as additional thrust, soas to enable the flying surface 100 as a whole capable of lifting,spinning, flipping, turning, or otherwise manipulating an object. Theobject manipulation use case may be a part of an object delivery usecase, or may be a separate use case, such as in industrial settings,manufacturing settings, and/or the like.

In one example, parts of the flexible flying surface can conform to theobject to be manipulated or handled and effectively grab it. The abilityto grab objects can be further enhanced by generating a suction forceinduced by one or more thrust units, which enables a grip (e.g., havingan adjustable grip strength determined based at least in part on thesuction force strength) enabling the flying surface 100 to move, lift,and/or manipulate the target object. As discussed above, thrust units ofcertain flying vehicles 10 may be configured to reverse direction so asto reverse the direction of provided thrust of the flying vehicle 10.Such configurations enable flying vehicles 10 to create a suction forceby creating a reverse thrust against a surface of an object to bemanipulated. The amount of thrust (or suction) may be adjusted bychanging the output of the thrust unit, so as to enable rotation, lift,release, or other manipulation movements of an object by one or moreflying vehicles 10 within a flying surface 100. In certain embodiments,the one or more flying vehicles 10 may comprise one or more sensors(e.g., disposed within a sensor array) configured to detect appropriateholding forces to perform various object manipulation movements. Forexample, one or more pressure sensors, contact sensors, and/or the like,may be configured to detect when a flying vehicle 10 is in contact withan object, to detect if the object is slipping relative to the flyingvehicle 10 (e.g., indicating that a greater suction/holding force isnecessary for object holding), and/or the like, so as to perform highlyprecise object manipulation movements.

In certain embodiments, one or more flying vehicles 10 within a flyingsurface 100 may comprise one or more object manipulation features, suchas hooks, high-friction pads, actuatable claws, and/or the likeconfigured for engaging one or more surfaces of an object. In certainembodiments, the manipulation features may be specifically configuredfor engaging a particular shape of object (e.g., a cube (e.g., a box indelivery setting), an envelope in delivery settings, an engine block ina manufacturing setting, and/or the like). In other embodiments, themanipulation features may be configured for engaging a variety ofshapes, such as via a conformable engagement feature. As discussed abovein the context of object delivery, flying surfaces 100 of certainembodiments comprise redundant object manipulation features, such thatone or more flying vehicles 10 may be replaced from the flying surface100 while supporting/manipulating an object, such that the flyingsurface 100 does not drop the object.

In object manipulation settings, a flying surface 100 may becharacterized by flexible joints between at least a portion of flyingvehicles 10 within the flying surface 100. The flexible joints enablerelative movement of flying vehicles 10 within the flying surface 100,thereby enabling at least a portion of flying vehicles 10 to adjusttheir position relative to the object, thereby enabling engagementbetween the flying surface 100 and the object so as to enable objectmanipulation. Moreover, the controllers of the included flying vehicles10 are configured to utilize object manipulation movement models forcontrolling included thrust units, thereby enabling movement patternsfor performing one or more object manipulation tasks, such as lifting anobject, lifting one side of an object (e.g., to flip an object), movingopposite sides of an object (e.g., to spin an object), and/or the like.Other object manipulation tasks may be performed in accordance withappropriate control models executed by the one or more controllers ofthe flying vehicles 10 (e.g., in a distributed control system or acentralized control system).

As yet another example usage, a flying surface 100 may be utilized forairflow manipulation, such as to redirect a flow of air to a desiredlocation. In certain embodiments, a flying surface 100 may be utilizedto redirect an airflow within a closed environment (e.g., within abuilding). As other examples, one or more flying surfaces 100 mayoperate in concert to redirect an airflow within an open environment,such as redirecting a flow of smoke in an urban environment.

In such embodiments, a flying surface 100 may be implemented as a rigidflying surface 100, in which case an airflow may be redirected in adirection normal to a plane defined by the rigid flying surface 100. Inother embodiments, a flying surface 100 may be flexible flying surface100, in which case various flying vehicles 10 within the flying surface100 may be directed in a manner so as to maintain a desired, stationaryposition of the flying surface 100 (e.g., mid-air) while redirecting anair flow. For example, certain flying vehicles 10 may be positioned toprovide supporting thrust for the flying surface 100, while others ofthe flying vehicles 10 within the flying surface 100 are configured toredirect an air flow as desired.

As yet another example usage, a flying surface 100 or a plurality offlying surfaces 100 may be configured as a communication hub, acommunication network edge transmitter, a network repeater, and/or thelike. In such embodiments, one or more flying vehicles 10 (e.g.,independently or collectively) may support or encompass one or morenetwork communication transceivers, routers, repeaters, antennae, and/orthe like, configured to provide network connectivity to nearby devices.Thus, in use, one or more flying surfaces 100 may be deployed toparticular areas, such as areas without network connectivity (e.g.,areas of natural disaster, areas with limited network connectivity, suchas highly mountainous regions, and/or the like) so as to increasenetwork coverage in those areas, without requiring stationary networkingtowers, antennae, receivers, transmitters, and/or the like. Due at leastin part to the modular, dynamically reconfigurable nature of the flyingsurfaces 100, the flying surfaces 100 may remain in place over extendedperiods of time to provide continuous, at least substantiallyuninterrupted connectivity to a particular area. As individual flyingvehicles 10 within the flying surface 100 run low on power (e.g.,electrical power), those flying vehicles 10 may detach from the flyingsurface 100, and replacement flying vehicles 10 may attach to the flyingsurface 100 so as to maintain desired levels of thrust for the flyingsurface 100. The diminished power flying vehicles 10 may return to abase or other power-replenishment areas (e.g., a volume of airproximate/above a wireless power transmitter) before redeployment.

As yet another example use case, a flying surface 100 comprising aplurality of flying vehicles 10 may be configured to catch and supportan object during flight. As just one example, a flying surface 100comprising a plurality of flying vehicles may operate as a net, tocapture a falling object by positioning the flying surface 100 under thefalling object. In certain implementations of such embodiments, theflying surface 100 may comprise one or more flying vehicles 10supporting/encompassing surveillance equipment configured to detect afalling object and to provide command data to a plurality of controllers18 of flying vehicles 10 within the flying surface 100 to cause theflying surface 100 to move under the falling object. As discussedherein, implementations configured for such usage may encompass flyingvehicles 10 having protective mesh, grids, surfaces, and/or the likecovering included thrust units, so as to avoid damage to the fallingobject and/or the flying vehicles 10 that could result from catching afalling object. In other embodiments, it should be understood thatvarious flying vehicles 10 may be configured for one-time-use incatching a falling object, as flying vehicles 10 that absorb forceresulting from catching the falling object may be damaged as a result ofthe absorbed force. In such embodiments, the flying surface 100 may beconfigured to provide sufficient thrust to support the falling objectand any objects expected to be damaged during the catch of the fallingobject. In other embodiments, flying surfaces 100 configured forcatching falling objects may operate as a part of a swarm of flyingvehicles 10 and/or flying objects 100, such that the flying surface 100may be reconfigurable after catching a falling object to retainadditional flying vehicles 10, as needed, to provide sufficient thrustto maintain the flying surface 100 in the air.

As another example, a flying surface 100 may be configured to fly alongthe flying path of a target aircraft and capture or neutralize thetarget aircraft. In various embodiments, one or more onboard sensors ofone or more flying vehicles 10 (and/or sensors supported by a pluralityof flying vehicles 10) within the flying surface 100 may be configuredto identify and/or track a target aircraft. By identifying and/ortracking the target aircraft via onboard sensors, the flying surface 100(e.g., via controllers 18 of individual flying vehicles 10 within theflying surface 100) may be configured to provide control signals torespective thrust units of individual flying vehicles 10 containedtherein to move toward the identified and/or tracked target aircraft. Byflying in the direction of the flight of the target aircraft, the flyingsurface 100 may be configured to reduce or minimize the relative impactbetween the target aircraft and the flying surface 100, enforcing a softimpact, to minimize any damage to the target aircraft and/or the flyingsurface 100. In various embodiments, the flying surface 100 may beconfigured to self-configure mid-flight (e.g., during a chase of thetarget aircraft) between a first configuration (e.g., configured tomaximize speed), such a large mostly flat conformation for maximumthrust to a second configuration, such as a capture configurationembodied as a sack, cage, and/or the like to enclose the target aircraftwhen the flying surface 100 approaches and captures the target aircraft.

Conclusion

Many modifications and other embodiments will come to mind to oneskilled in the art to which this disclosure pertains having the benefitof the teachings presented in the foregoing descriptions and theassociated drawings. Therefore, it is to be understood that thedisclosure is not to be limited to the specific embodiments disclosedand that modifications and other embodiments are intended to be includedwithin the scope of the appended claims. Although specific terms areemployed herein, they are used in a generic and descriptive sense onlyand not for purposes of limitation.

That which is claimed:
 1. A method for dynamically configuring a flyingsurface comprising a plurality of interconnectable flying vehicles, themethod comprising: detecting, via a controller of a firstinterconnectable flying vehicle, the presence of a secondinterconnectable flying vehicle; controlling, via the controller of thefirst interconnectable flying vehicle, an onboard thrust unit of thefirst interconnectable flying vehicle to cause the firstinterconnectable flying vehicle to form a joint by engaging one or moreconnectors of the first interconnectable flying vehicle and the secondinterconnectable flying vehicle and to form a flying surface comprisingthe first interconnectable flying vehicle and the secondinterconnectable flying vehicle.
 2. The method of claim 1, whereinengaging one or more connectors of the first interconnectable flyingvehicle and the second interconnectable flying vehicle comprises forminga rigid joint between the first interconnectable flying vehicle and thesecond interconnectable flying vehicle.
 3. The method of claim 1,wherein engaging one or more connectors of the first interconnectableflying vehicle and the second interconnectable flying vehicle comprisesforming a flexible joint between the first interconnectable flyingvehicle and the second interconnectable flying vehicle.
 4. The method ofclaim 2, further comprising reconfiguring the rigid joint into aflexible joint.
 5. The method of claim 1, further comprising, afterengaging the one or more connectors between the first interconnectableflying vehicle and the second interconnectable flying vehicle,reconfiguring a control model executed by the controller of the firstinterconnectable flying vehicle to accommodate flight behaviors of theflying surface.
 6. The method of claim 5, wherein reconfiguring thecontrol model comprises: detecting a joint type between the firstinterconnectable flying vehicle and the second interconnectable flyingvehicle; detecting a quantity of interconnectable flying vehiclesconnected within the flying surface; and implementing a control modelreflecting the detected joint type and the detected quantity ofinterconnectable flying vehicles connected within the flying surface. 7.The method of claim 5, wherein reconfiguring the control model comprisesreceiving one or more control signals from a separate controller andimplementing a control model at the controller of the firstinterconnectable flying vehicle based at least in part on the receivedone or more control signals.
 8. The method of claim 5, whereinreconfiguring the control model comprises: detecting that the secondinterconnectable flying vehicle comprises a camera; and implementing acontrol model configured for stable repositioning of the camera.
 9. Themethod of claim 1, further comprising: detecting a failing thirdinterconnectable flying vehicle within the flying surface; andreconfiguring the control model of the first interconnectable flyingvehicle to support the failing third interconnectable flying vehicle.10. The method of claim 1, wherein detecting the presence of a secondinterconnectable flying vehicle comprises detecting, via one or more of:a proximity sensor, a pressure sensor, or a contact sensor.
 11. A methodfor dynamically configuring a flying surface comprising a plurality ofinterconnectable flying vehicles, the method comprising: detecting, viaa controller of a first interconnectable flying vehicle, the presence ofa second interconnectable flying vehicle connected with the firstinterconnectable flying vehicle via a joint; and configuring a controlmodel implemented by the controller of the first interconnectable flyingvehicle based at least in part on a detection of the presence of thesecond interconnectable flying vehicle.
 12. The method of claim 11,further comprising detecting a joint type between the firstinterconnectable flying vehicle and the second interconnectable flyingvehicle.
 13. The method of claim 12, wherein detecting a joint typecomprises determining whether a joint is a rigid joint or a flexiblejoint between the first interconnectable flying vehicle and the secondinterconnectable flying vehicle.
 14. The method of claim 11, furthercomprising receiving data indicating a quantity of otherinterconnectable flying vehicles connected with the secondinterconnectable flying vehicle.
 15. The method of claim 11, furthercomprising receiving data indicating that the second interconnectableflying vehicle comprises a camera.
 16. The method of claim 15, whereinreconfiguring the control model comprises implementing a control modelconfigured for stable repositioning of the camera.
 17. The method ofclaim 11, wherein reconfiguring the control model comprises receivingone or more control signals from a separate controller.
 18. The methodof claim 11, further comprising detecting an operating status of thesecond interconnectable flying vehicle and configuring the control modelbased at least in part on the operating status of the secondinterconnectable flying vehicle.
 19. The method of claim 11, whereindetecting the presence of a second interconnectable flying vehicleconnected with the first interconnectable flying vehicle via the jointcomprises receiving a data signal from the second interconnectableflying vehicle via a data connection within the joint.
 20. The method ofclaim 11, wherein detecting the presence of a second interconnectableflying vehicle connected with the first interconnectable flying vehiclevia the joint comprises receiving a wireless data signal from the secondinterconnectable flying vehicle.